WORST_CASE(Omega(0),?)

Initial ITS
Start location: l66
   0: l0 -> l1 : __disjvr_0^0'=__disjvr_0^post0, a_215^0'=a_215^post0, x_SLAM_f_18^0'=x_SLAM_f_18^post0, __disjvr_21^0'=__disjvr_21^post0, __disjvr_3^0'=__disjvr_3^post0, result_11^0'=result_11^post0, __disjvr_14^0'=__disjvr_14^post0, head_129^0'=head_129^post0, __disjvr_24^0'=__disjvr_24^post0, len_183^0'=len_183^post0, __disjvr_8^0'=__disjvr_8^post0, a_116^0'=a_116^post0, tmp_34^0'=tmp_34^post0, __disjvr_19^0'=__disjvr_19^post0, head_SLAM_f_26^0'=head_SLAM_f_26^post0, __disjvr_29^0'=__disjvr_29^post0, r_39^0'=r_39^post0, __disjvr_11^0'=__disjvr_11^post0, a_260^0'=a_260^post0, i_30^0'=i_30^post0, __disjvr_5^0'=__disjvr_5^post0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post0, __disjvr_16^0'=__disjvr_16^post0, head_175^0'=head_175^post0, __disjvr_26^0'=__disjvr_26^post0, nondet_12^0'=nondet_12^post0, a_184^0'=a_184^post0, x_20^0'=x_20^post0, __disjvr_20^0'=__disjvr_20^post0, i_167^0'=i_167^post0, __disjvr_30^0'=__disjvr_30^post0, rcd_88^0'=rcd_88^post0, __disjvr_13^0'=__disjvr_13^post0, f_170^0'=f_170^post0, __disjvr_23^0'=__disjvr_23^post0, len_132^0'=len_132^post0, __disjvr_7^0'=__disjvr_7^post0, temp0_15^0'=temp0_15^post0, temp_35^0'=temp_35^post0, __disjvr_18^0'=__disjvr_18^post0, head_32^0'=head_32^post0, __disjvr_28^0'=__disjvr_28^post0, r_163^0'=r_163^post0, __disjvr_10^0'=__disjvr_10^post0, a_237^0'=a_237^post0, y_19^0'=y_19^post0, __disjvr_22^0'=__disjvr_22^post0, __disjvr_4^0'=__disjvr_4^post0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0, __disjvr_15^0'=__disjvr_15^post0, head_14^0'=head_14^post0, __disjvr_25^0'=__disjvr_25^post0, length_29^0'=length_29^post0, __disjvr_9^0'=__disjvr_9^post0, a_147^0'=a_147^post0, x_16^0'=x_16^post0, __disjvr_1^0'=__disjvr_1^post0, i_108^0'=i_108^post0, __disjvr_2^0'=__disjvr_2^post0, rcd_58^0'=rcd_58^post0, __disjvr_12^0'=__disjvr_12^post0, ct_17^0'=ct_17^post0, i_94^0'=i_94^post0, __disjvr_6^0'=__disjvr_6^post0, t_23^0'=t_23^post0, temp0_31^0'=temp0_31^post0, __disjvr_17^0'=__disjvr_17^post0, head_27^0'=head_27^post0, __disjvr_27^0'=__disjvr_27^post0, r_124^0'=r_124^post0, (0 == 0 /\ -head_175^post0+head_175^0 == 0 /\ x_20^0-y_19^0 <= 0 /\ -head_27^post0+head_27^0 == 0 /\ head_129^0-head_129^post0 == 0 /\ -__disjvr_25^post0+__disjvr_25^0 == 0 /\ temp0_15^0-temp0_15^post0 == 0 /\ -a_237^post0+a_237^0 == 0 /\ -a_237^0 <= 0 /\ a_116^0-a_116^post0 == 0 /\ __disjvr_26^0-__disjvr_26^post0 == 0 /\ __disjvr_13^0-__disjvr_13^post0 == 0 /\ -__disjvr_27^post0+__disjvr_27^0 == 0 /\ rcd_88^0-rcd_88^post0 == 0 /\ -head_14^post0+head_14^0 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -__disjvr_29^post0+__disjvr_29^0 == 0 /\ __disjvr_10^0-__disjvr_10^post0 == 0 /\ i_108^0-i_108^post0 == 0 /\ __disjvr_30^0-__disjvr_30^post0 == 0 /\ -i_94^post0+i_94^0 == 0 /\ a_260^0-a_260^post0 == 0 /\ __disjvr_20^0-__disjvr_20^post0 == 0 /\ __disjvr_3^0-__disjvr_3^post0 == 0 /\ tmp_34^0-tmp_34^post0 == 0 /\ -__disjvr_12^post0+__disjvr_12^0 == 0 /\ -__disjvr_18^post0+__disjvr_18^0 == 0 /\ __disjvr_14^0-__disjvr_14^post0 == 0 /\ i_30^0-i_30^post0 == 0 /\ -__disjvr_1^post0+__disjvr_1^0 == 0 /\ -__disjvr_2^post0+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post0 == 0 /\ -nondet_12^post0+nondet_12^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ a_184^0-a_184^post0 == 0 /\ __disjvr_22^0-__disjvr_22^post0 == 0 /\ -__disjvr_6^post0+__disjvr_6^0 == 0 /\ -__disjvr_15^post0+__disjvr_15^0 == 0 /\ __disjvr_21^0-__disjvr_21^post0 == 0 /\ -__disjvr_17^post0+__disjvr_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post0 == 0 /\ len_183^0-len_183^post0 == 0 /\ -__disjvr_9^post0+__disjvr_9^0 == 0 /\ __disjvr_24^0-__disjvr_24^post0 == 0 /\ r_163^0-r_163^post0 == 0 /\ temp_35^0-temp_35^post0 == 0 /\ -a_147^post0+a_147^0 == 0 /\ length_29^0-length_29^post0 == 0 /\ -__disjvr_28^post0+__disjvr_28^0 == 0 /\ -__disjvr_23^post0+__disjvr_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post0 == 0 /\ f_170^0-f_170^post0 == 0 /\ -r_124^post0+r_124^0 == 0 /\ -head_32^post0+head_32^0 == 0 /\ -rcd_58^post0+rcd_58^0 == 0 /\ r_39^0-r_39^post0 == 0 /\ __disjvr_19^0-__disjvr_19^post0 == 0 /\ -i_167^post0+i_167^0 == 0 /\ -__disjvr_16^post0+__disjvr_16^0 == 0 /\ -__disjvr_11^post0+__disjvr_11^0 == 0 /\ -len_132^post0+len_132^0 == 0 /\ -temp0_31^post0+temp0_31^0 == 0 /\ __disjvr_5^0-__disjvr_5^post0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post0 == 0 /\ a_215^0-a_215^post0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post0+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^post0 <= 0 /\ __disjvr_7^0-__disjvr_7^post0 == 0 /\ result_11^post0-temp0_15^0 == 0), cost: 1
   1: l0 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_215^0'=a_215^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, __disjvr_21^0'=__disjvr_21^post1, __disjvr_3^0'=__disjvr_3^post1, result_11^0'=result_11^post1, __disjvr_14^0'=__disjvr_14^post1, head_129^0'=head_129^post1, __disjvr_24^0'=__disjvr_24^post1, len_183^0'=len_183^post1, __disjvr_8^0'=__disjvr_8^post1, a_116^0'=a_116^post1, tmp_34^0'=tmp_34^post1, __disjvr_19^0'=__disjvr_19^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, __disjvr_29^0'=__disjvr_29^post1, r_39^0'=r_39^post1, __disjvr_11^0'=__disjvr_11^post1, a_260^0'=a_260^post1, i_30^0'=i_30^post1, __disjvr_5^0'=__disjvr_5^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_16^0'=__disjvr_16^post1, head_175^0'=head_175^post1, __disjvr_26^0'=__disjvr_26^post1, nondet_12^0'=nondet_12^post1, a_184^0'=a_184^post1, x_20^0'=x_20^post1, __disjvr_20^0'=__disjvr_20^post1, i_167^0'=i_167^post1, __disjvr_30^0'=__disjvr_30^post1, rcd_88^0'=rcd_88^post1, __disjvr_13^0'=__disjvr_13^post1, f_170^0'=f_170^post1, __disjvr_23^0'=__disjvr_23^post1, len_132^0'=len_132^post1, __disjvr_7^0'=__disjvr_7^post1, temp0_15^0'=temp0_15^post1, temp_35^0'=temp_35^post1, __disjvr_18^0'=__disjvr_18^post1, head_32^0'=head_32^post1, __disjvr_28^0'=__disjvr_28^post1, r_163^0'=r_163^post1, __disjvr_10^0'=__disjvr_10^post1, a_237^0'=a_237^post1, y_19^0'=y_19^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_4^0'=__disjvr_4^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, __disjvr_15^0'=__disjvr_15^post1, head_14^0'=head_14^post1, __disjvr_25^0'=__disjvr_25^post1, length_29^0'=length_29^post1, __disjvr_9^0'=__disjvr_9^post1, a_147^0'=a_147^post1, x_16^0'=x_16^post1, __disjvr_1^0'=__disjvr_1^post1, i_108^0'=i_108^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_58^0'=rcd_58^post1, __disjvr_12^0'=__disjvr_12^post1, ct_17^0'=ct_17^post1, i_94^0'=i_94^post1, __disjvr_6^0'=__disjvr_6^post1, t_23^0'=t_23^post1, temp0_31^0'=temp0_31^post1, __disjvr_17^0'=__disjvr_17^post1, head_27^0'=head_27^post1, __disjvr_27^0'=__disjvr_27^post1, r_124^0'=r_124^post1, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ rcd_58^0-rcd_58^post1 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ -f_170^post1+f_170^0 == 0 /\ __disjvr_5^0-__disjvr_5^post1 == 0 /\ -y_19^post1+y_19^0 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -a_237^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ -temp0_15^post1+temp0_15^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ head_129^0-head_129^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -i_108^post1+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ a_260^0-a_260^post1 == 0 /\ -head_27^post1+head_27^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ __disjvr_15^0-__disjvr_15^post1 == 0 /\ a_215^0-a_215^post1 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ -a_147^post1+a_147^0 == 0 /\ -rcd_88^post1+rcd_88^0 == 0 /\ -x_20^post1+x_20^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ len_183^0-len_183^post1 == 0 /\ len_132^0-len_132^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ __disjvr_30^0-__disjvr_30^post1 == 0 /\ -r_163^post1+r_163^0 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ -r_124^post1+r_124^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ -length_29^post1+length_29^0 == 0 /\ i_167^0-i_167^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ a_116^0-a_116^post1 == 0 /\ -__disjvr_20^post1+__disjvr_20^0 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ a_237^0-a_237^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ i_30^0-i_30^post1 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -a_184^post1+a_184^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ head_175^0-head_175^post1 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ __disjvr_3^0-__disjvr_3^post1 == 0), cost: 1
   2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_215^0'=a_215^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, __disjvr_21^0'=__disjvr_21^post2, __disjvr_3^0'=__disjvr_3^post2, result_11^0'=result_11^post2, __disjvr_14^0'=__disjvr_14^post2, head_129^0'=head_129^post2, __disjvr_24^0'=__disjvr_24^post2, len_183^0'=len_183^post2, __disjvr_8^0'=__disjvr_8^post2, a_116^0'=a_116^post2, tmp_34^0'=tmp_34^post2, __disjvr_19^0'=__disjvr_19^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, __disjvr_29^0'=__disjvr_29^post2, r_39^0'=r_39^post2, __disjvr_11^0'=__disjvr_11^post2, a_260^0'=a_260^post2, i_30^0'=i_30^post2, __disjvr_5^0'=__disjvr_5^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_16^0'=__disjvr_16^post2, head_175^0'=head_175^post2, __disjvr_26^0'=__disjvr_26^post2, nondet_12^0'=nondet_12^post2, a_184^0'=a_184^post2, x_20^0'=x_20^post2, __disjvr_20^0'=__disjvr_20^post2, i_167^0'=i_167^post2, __disjvr_30^0'=__disjvr_30^post2, rcd_88^0'=rcd_88^post2, __disjvr_13^0'=__disjvr_13^post2, f_170^0'=f_170^post2, __disjvr_23^0'=__disjvr_23^post2, len_132^0'=len_132^post2, __disjvr_7^0'=__disjvr_7^post2, temp0_15^0'=temp0_15^post2, temp_35^0'=temp_35^post2, __disjvr_18^0'=__disjvr_18^post2, head_32^0'=head_32^post2, __disjvr_28^0'=__disjvr_28^post2, r_163^0'=r_163^post2, __disjvr_10^0'=__disjvr_10^post2, a_237^0'=a_237^post2, y_19^0'=y_19^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_4^0'=__disjvr_4^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, __disjvr_15^0'=__disjvr_15^post2, head_14^0'=head_14^post2, __disjvr_25^0'=__disjvr_25^post2, length_29^0'=length_29^post2, __disjvr_9^0'=__disjvr_9^post2, a_147^0'=a_147^post2, x_16^0'=x_16^post2, __disjvr_1^0'=__disjvr_1^post2, i_108^0'=i_108^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_58^0'=rcd_58^post2, __disjvr_12^0'=__disjvr_12^post2, ct_17^0'=ct_17^post2, i_94^0'=i_94^post2, __disjvr_6^0'=__disjvr_6^post2, t_23^0'=t_23^post2, temp0_31^0'=temp0_31^post2, __disjvr_17^0'=__disjvr_17^post2, head_27^0'=head_27^post2, __disjvr_27^0'=__disjvr_27^post2, r_124^0'=r_124^post2, (-rcd_58^post2+rcd_58^0 == 0 /\ a_215^0-a_215^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -head_175^post2+head_175^0 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -a_237^post2+a_237^0 == 0 /\ a_147^0-a_147^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ temp_35^0-temp_35^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -head_27^post2+head_27^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -length_29^post2+length_29^0 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ r_163^0-r_163^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -t_23^post2+t_23^0 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ head_129^0-head_129^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ f_170^0-f_170^post2 == 0 /\ -x_16^post2+x_16^0 == 0 /\ i_108^0-i_108^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -head_SLAM_f_26^post2+head_SLAM_f_26^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -y_19^post2+y_19^0 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -a_184^post2+a_184^0 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -len_183^post2+len_183^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post2 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ __disjvr_30^0-__disjvr_30^post2 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -len_132^post2+len_132^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ a_260^0-a_260^post2 == 0 /\ -__disjvr_0^0+__disjvr_0^post2 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0), cost: 1
   3: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_215^0'=a_215^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, __disjvr_21^0'=__disjvr_21^post3, __disjvr_3^0'=__disjvr_3^post3, result_11^0'=result_11^post3, __disjvr_14^0'=__disjvr_14^post3, head_129^0'=head_129^post3, __disjvr_24^0'=__disjvr_24^post3, len_183^0'=len_183^post3, __disjvr_8^0'=__disjvr_8^post3, a_116^0'=a_116^post3, tmp_34^0'=tmp_34^post3, __disjvr_19^0'=__disjvr_19^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, __disjvr_29^0'=__disjvr_29^post3, r_39^0'=r_39^post3, __disjvr_11^0'=__disjvr_11^post3, a_260^0'=a_260^post3, i_30^0'=i_30^post3, __disjvr_5^0'=__disjvr_5^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_16^0'=__disjvr_16^post3, head_175^0'=head_175^post3, __disjvr_26^0'=__disjvr_26^post3, nondet_12^0'=nondet_12^post3, a_184^0'=a_184^post3, x_20^0'=x_20^post3, __disjvr_20^0'=__disjvr_20^post3, i_167^0'=i_167^post3, __disjvr_30^0'=__disjvr_30^post3, rcd_88^0'=rcd_88^post3, __disjvr_13^0'=__disjvr_13^post3, f_170^0'=f_170^post3, __disjvr_23^0'=__disjvr_23^post3, len_132^0'=len_132^post3, __disjvr_7^0'=__disjvr_7^post3, temp0_15^0'=temp0_15^post3, temp_35^0'=temp_35^post3, __disjvr_18^0'=__disjvr_18^post3, head_32^0'=head_32^post3, __disjvr_28^0'=__disjvr_28^post3, r_163^0'=r_163^post3, __disjvr_10^0'=__disjvr_10^post3, a_237^0'=a_237^post3, y_19^0'=y_19^post3, __disjvr_22^0'=__disjvr_22^post3, __disjvr_4^0'=__disjvr_4^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, __disjvr_15^0'=__disjvr_15^post3, head_14^0'=head_14^post3, __disjvr_25^0'=__disjvr_25^post3, length_29^0'=length_29^post3, __disjvr_9^0'=__disjvr_9^post3, a_147^0'=a_147^post3, x_16^0'=x_16^post3, __disjvr_1^0'=__disjvr_1^post3, i_108^0'=i_108^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_58^0'=rcd_58^post3, __disjvr_12^0'=__disjvr_12^post3, ct_17^0'=ct_17^post3, i_94^0'=i_94^post3, __disjvr_6^0'=__disjvr_6^post3, t_23^0'=t_23^post3, temp0_31^0'=temp0_31^post3, __disjvr_17^0'=__disjvr_17^post3, head_27^0'=head_27^post3, __disjvr_27^0'=__disjvr_27^post3, r_124^0'=r_124^post3, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post3 == 0 /\ -temp0_31^post3+temp0_31^0 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ len_183^0-len_183^post3 == 0 /\ y_19^0-y_19^post3 == 0 /\ len_132^0-len_132^post3 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ -y_19^0 <= 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ 1+a_260^post3-a_237^0 <= 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -f_170^post3+f_170^0 == 0 /\ -i_30^post3+i_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ -__disjvr_9^post3+__disjvr_9^0 == 0 /\ -i_108^post3+i_108^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ -i_167^post3+i_167^0 == 0 /\ -ct_17^post3+ct_17^0 == 0 /\ -x_20^0+t_23^post3 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ -r_124^post3+r_124^0 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -__disjvr_25^post3+__disjvr_25^0 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -a_237^post3+a_237^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ -__disjvr_13^post3+__disjvr_13^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ -a_147^post3+a_147^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post3 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ r_39^0-r_39^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -head_14^post3+head_14^0 == 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -1-a_260^post3+a_237^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_19^0 <= 0 /\ -head_32^post3+head_32^0 == 0 /\ x_20^0-x_20^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ a_184^0-a_184^post3 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ a_215^0-a_215^post3 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -head_129^post3+head_129^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -length_29^post3+length_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post3 == 0 /\ -head_27^post3+head_27^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -ct_17^0 <= 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ -a_116^post3+a_116^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ temp_35^0-temp_35^post3 == 0), cost: 1
   4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_215^0'=a_215^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, __disjvr_21^0'=__disjvr_21^post4, __disjvr_3^0'=__disjvr_3^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, head_129^0'=head_129^post4, __disjvr_24^0'=__disjvr_24^post4, len_183^0'=len_183^post4, __disjvr_8^0'=__disjvr_8^post4, a_116^0'=a_116^post4, tmp_34^0'=tmp_34^post4, __disjvr_19^0'=__disjvr_19^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, __disjvr_29^0'=__disjvr_29^post4, r_39^0'=r_39^post4, __disjvr_11^0'=__disjvr_11^post4, a_260^0'=a_260^post4, i_30^0'=i_30^post4, __disjvr_5^0'=__disjvr_5^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_16^0'=__disjvr_16^post4, head_175^0'=head_175^post4, __disjvr_26^0'=__disjvr_26^post4, nondet_12^0'=nondet_12^post4, a_184^0'=a_184^post4, x_20^0'=x_20^post4, __disjvr_20^0'=__disjvr_20^post4, i_167^0'=i_167^post4, __disjvr_30^0'=__disjvr_30^post4, rcd_88^0'=rcd_88^post4, __disjvr_13^0'=__disjvr_13^post4, f_170^0'=f_170^post4, __disjvr_23^0'=__disjvr_23^post4, len_132^0'=len_132^post4, __disjvr_7^0'=__disjvr_7^post4, temp0_15^0'=temp0_15^post4, temp_35^0'=temp_35^post4, __disjvr_18^0'=__disjvr_18^post4, head_32^0'=head_32^post4, __disjvr_28^0'=__disjvr_28^post4, r_163^0'=r_163^post4, __disjvr_10^0'=__disjvr_10^post4, a_237^0'=a_237^post4, y_19^0'=y_19^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_4^0'=__disjvr_4^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, __disjvr_15^0'=__disjvr_15^post4, head_14^0'=head_14^post4, __disjvr_25^0'=__disjvr_25^post4, length_29^0'=length_29^post4, __disjvr_9^0'=__disjvr_9^post4, a_147^0'=a_147^post4, x_16^0'=x_16^post4, __disjvr_1^0'=__disjvr_1^post4, i_108^0'=i_108^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_58^0'=rcd_58^post4, __disjvr_12^0'=__disjvr_12^post4, ct_17^0'=ct_17^post4, i_94^0'=i_94^post4, __disjvr_6^0'=__disjvr_6^post4, t_23^0'=t_23^post4, temp0_31^0'=temp0_31^post4, __disjvr_17^0'=__disjvr_17^post4, head_27^0'=head_27^post4, __disjvr_27^0'=__disjvr_27^post4, r_124^0'=r_124^post4, (a_116^0-a_116^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -a_260^post4+a_260^0 == 0 /\ a_147^0-a_147^post4 == 0 /\ -r_163^post4+r_163^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ -head_14^post4+head_14^0 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ __disjvr_7^0-__disjvr_7^post4 == 0 /\ -t_23^post4+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -rcd_58^post4+rcd_58^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -y_19^post4+y_19^0 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post4 == 0 /\ -x_16^post4+x_16^0 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ __disjvr_30^0-__disjvr_30^post4 == 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ a_184^0-a_184^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ a_215^0-a_215^post4 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ -temp0_15^post4+temp0_15^0 == 0 /\ -r_39^post4+r_39^0 == 0 /\ -head_27^post4+head_27^0 == 0 /\ -__disjvr_24^post4+__disjvr_24^0 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ i_30^0-i_30^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post4 == 0 /\ i_167^0-i_167^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ len_183^0-len_183^post4 == 0 /\ -r_124^post4+r_124^0 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ len_132^0-len_132^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ a_237^0-a_237^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -rcd_88^post4+rcd_88^0 == 0 /\ f_170^0-f_170^post4 == 0 /\ -ct_17^post4+ct_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ head_129^0-head_129^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -x_20^post4+x_20^0 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_215^0'=a_215^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, __disjvr_21^0'=__disjvr_21^post5, __disjvr_3^0'=__disjvr_3^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, head_129^0'=head_129^post5, __disjvr_24^0'=__disjvr_24^post5, len_183^0'=len_183^post5, __disjvr_8^0'=__disjvr_8^post5, a_116^0'=a_116^post5, tmp_34^0'=tmp_34^post5, __disjvr_19^0'=__disjvr_19^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, __disjvr_29^0'=__disjvr_29^post5, r_39^0'=r_39^post5, __disjvr_11^0'=__disjvr_11^post5, a_260^0'=a_260^post5, i_30^0'=i_30^post5, __disjvr_5^0'=__disjvr_5^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_16^0'=__disjvr_16^post5, head_175^0'=head_175^post5, __disjvr_26^0'=__disjvr_26^post5, nondet_12^0'=nondet_12^post5, a_184^0'=a_184^post5, x_20^0'=x_20^post5, __disjvr_20^0'=__disjvr_20^post5, i_167^0'=i_167^post5, __disjvr_30^0'=__disjvr_30^post5, rcd_88^0'=rcd_88^post5, __disjvr_13^0'=__disjvr_13^post5, f_170^0'=f_170^post5, __disjvr_23^0'=__disjvr_23^post5, len_132^0'=len_132^post5, __disjvr_7^0'=__disjvr_7^post5, temp0_15^0'=temp0_15^post5, temp_35^0'=temp_35^post5, __disjvr_18^0'=__disjvr_18^post5, head_32^0'=head_32^post5, __disjvr_28^0'=__disjvr_28^post5, r_163^0'=r_163^post5, __disjvr_10^0'=__disjvr_10^post5, a_237^0'=a_237^post5, y_19^0'=y_19^post5, __disjvr_22^0'=__disjvr_22^post5, __disjvr_4^0'=__disjvr_4^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, __disjvr_15^0'=__disjvr_15^post5, head_14^0'=head_14^post5, __disjvr_25^0'=__disjvr_25^post5, length_29^0'=length_29^post5, __disjvr_9^0'=__disjvr_9^post5, a_147^0'=a_147^post5, x_16^0'=x_16^post5, __disjvr_1^0'=__disjvr_1^post5, i_108^0'=i_108^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_58^0'=rcd_58^post5, __disjvr_12^0'=__disjvr_12^post5, ct_17^0'=ct_17^post5, i_94^0'=i_94^post5, __disjvr_6^0'=__disjvr_6^post5, t_23^0'=t_23^post5, temp0_31^0'=temp0_31^post5, __disjvr_17^0'=__disjvr_17^post5, head_27^0'=head_27^post5, __disjvr_27^0'=__disjvr_27^post5, r_124^0'=r_124^post5, (-__disjvr_9^post5+__disjvr_9^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ len_183^0-len_183^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ __disjvr_10^0-__disjvr_10^post5 == 0 /\ -i_108^post5+i_108^0 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ a_215^0-a_215^post5 == 0 /\ -head_27^post5+head_27^0 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -a_237^post5+a_237^0 == 0 /\ -__disjvr_25^post5+__disjvr_25^0 == 0 /\ a_116^0-a_116^post5 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -r_124^post5+r_124^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -__disjvr_2^0+__disjvr_2^post5 == 0 /\ i_30^0-i_30^post5 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ head_175^0-head_175^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ -rcd_88^post5+rcd_88^0 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ -i_94^post5+i_94^0 == 0 /\ -head_14^post5+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post5+head_SLAM_f_26^0 == 0 /\ temp_35^0-temp_35^post5 == 0 /\ -length_29^post5+length_29^0 == 0 /\ -a_147^post5+a_147^0 == 0 /\ head_129^0-head_129^post5 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -r_163^post5+r_163^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ a_260^0-a_260^post5 == 0 /\ -head_32^post5+head_32^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ x_20^0-x_20^post5 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ y_19^0-y_19^post5 == 0 /\ -a_184^post5+a_184^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_215^0'=a_215^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, __disjvr_21^0'=__disjvr_21^post6, __disjvr_3^0'=__disjvr_3^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, head_129^0'=head_129^post6, __disjvr_24^0'=__disjvr_24^post6, len_183^0'=len_183^post6, __disjvr_8^0'=__disjvr_8^post6, a_116^0'=a_116^post6, tmp_34^0'=tmp_34^post6, __disjvr_19^0'=__disjvr_19^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, __disjvr_29^0'=__disjvr_29^post6, r_39^0'=r_39^post6, __disjvr_11^0'=__disjvr_11^post6, a_260^0'=a_260^post6, i_30^0'=i_30^post6, __disjvr_5^0'=__disjvr_5^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_16^0'=__disjvr_16^post6, head_175^0'=head_175^post6, __disjvr_26^0'=__disjvr_26^post6, nondet_12^0'=nondet_12^post6, a_184^0'=a_184^post6, x_20^0'=x_20^post6, __disjvr_20^0'=__disjvr_20^post6, i_167^0'=i_167^post6, __disjvr_30^0'=__disjvr_30^post6, rcd_88^0'=rcd_88^post6, __disjvr_13^0'=__disjvr_13^post6, f_170^0'=f_170^post6, __disjvr_23^0'=__disjvr_23^post6, len_132^0'=len_132^post6, __disjvr_7^0'=__disjvr_7^post6, temp0_15^0'=temp0_15^post6, temp_35^0'=temp_35^post6, __disjvr_18^0'=__disjvr_18^post6, head_32^0'=head_32^post6, __disjvr_28^0'=__disjvr_28^post6, r_163^0'=r_163^post6, __disjvr_10^0'=__disjvr_10^post6, a_237^0'=a_237^post6, y_19^0'=y_19^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_4^0'=__disjvr_4^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, __disjvr_15^0'=__disjvr_15^post6, head_14^0'=head_14^post6, __disjvr_25^0'=__disjvr_25^post6, length_29^0'=length_29^post6, __disjvr_9^0'=__disjvr_9^post6, a_147^0'=a_147^post6, x_16^0'=x_16^post6, __disjvr_1^0'=__disjvr_1^post6, i_108^0'=i_108^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_58^0'=rcd_58^post6, __disjvr_12^0'=__disjvr_12^post6, ct_17^0'=ct_17^post6, i_94^0'=i_94^post6, __disjvr_6^0'=__disjvr_6^post6, t_23^0'=t_23^post6, temp0_31^0'=temp0_31^post6, __disjvr_17^0'=__disjvr_17^post6, head_27^0'=head_27^post6, __disjvr_27^0'=__disjvr_27^post6, r_124^0'=r_124^post6, (-__disjvr_23^post6+__disjvr_23^0 == 0 /\ -i_94^post6+i_94^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post6 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -t_23^post6+t_23^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ i_167^0-i_167^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ -a_147^post6+a_147^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -head_27^post6+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post6 == 0 /\ -__disjvr_30^post6+__disjvr_30^0 == 0 /\ -y_19^post6+y_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ -__disjvr_3^0+__disjvr_3^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ a_260^0-a_260^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -a_116^post6+a_116^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ a_215^0-a_215^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ head_175^0-head_175^post6 == 0 /\ -temp0_15^post6+temp0_15^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -__disjvr_19^post6+__disjvr_19^0 == 0 /\ len_132^0-len_132^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -i_108^post6+i_108^0 == 0 /\ r_39^0-r_39^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0 /\ tmp_34^0-tmp_34^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ len_183^0-len_183^post6 == 0 /\ -r_124^post6+r_124^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ head_14^0-head_14^post6 == 0 /\ head_129^0-head_129^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ length_29^0-length_29^post6 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ a_184^0-a_184^post6 == 0 /\ a_237^0-a_237^post6 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0), cost: 1
   7: l8 -> l2 : __disjvr_0^0'=__disjvr_0^post7, a_215^0'=a_215^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, __disjvr_21^0'=__disjvr_21^post7, __disjvr_3^0'=__disjvr_3^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, head_129^0'=head_129^post7, __disjvr_24^0'=__disjvr_24^post7, len_183^0'=len_183^post7, __disjvr_8^0'=__disjvr_8^post7, a_116^0'=a_116^post7, tmp_34^0'=tmp_34^post7, __disjvr_19^0'=__disjvr_19^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, __disjvr_29^0'=__disjvr_29^post7, r_39^0'=r_39^post7, __disjvr_11^0'=__disjvr_11^post7, a_260^0'=a_260^post7, i_30^0'=i_30^post7, __disjvr_5^0'=__disjvr_5^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_16^0'=__disjvr_16^post7, head_175^0'=head_175^post7, __disjvr_26^0'=__disjvr_26^post7, nondet_12^0'=nondet_12^post7, a_184^0'=a_184^post7, x_20^0'=x_20^post7, __disjvr_20^0'=__disjvr_20^post7, i_167^0'=i_167^post7, __disjvr_30^0'=__disjvr_30^post7, rcd_88^0'=rcd_88^post7, __disjvr_13^0'=__disjvr_13^post7, f_170^0'=f_170^post7, __disjvr_23^0'=__disjvr_23^post7, len_132^0'=len_132^post7, __disjvr_7^0'=__disjvr_7^post7, temp0_15^0'=temp0_15^post7, temp_35^0'=temp_35^post7, __disjvr_18^0'=__disjvr_18^post7, head_32^0'=head_32^post7, __disjvr_28^0'=__disjvr_28^post7, r_163^0'=r_163^post7, __disjvr_10^0'=__disjvr_10^post7, a_237^0'=a_237^post7, y_19^0'=y_19^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_4^0'=__disjvr_4^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, __disjvr_15^0'=__disjvr_15^post7, head_14^0'=head_14^post7, __disjvr_25^0'=__disjvr_25^post7, length_29^0'=length_29^post7, __disjvr_9^0'=__disjvr_9^post7, a_147^0'=a_147^post7, x_16^0'=x_16^post7, __disjvr_1^0'=__disjvr_1^post7, i_108^0'=i_108^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_58^0'=rcd_58^post7, __disjvr_12^0'=__disjvr_12^post7, ct_17^0'=ct_17^post7, i_94^0'=i_94^post7, __disjvr_6^0'=__disjvr_6^post7, t_23^0'=t_23^post7, temp0_31^0'=temp0_31^post7, __disjvr_17^0'=__disjvr_17^post7, head_27^0'=head_27^post7, __disjvr_27^0'=__disjvr_27^post7, r_124^0'=r_124^post7, (0 == 0 /\ -i_167^post7+i_167^0 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -temp0_15^post7+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ head_32^0-head_32^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ r_163^0-r_163^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ head_129^0-head_129^post7 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -x_16^post7+x_16^0 == 0 /\ a_260^0-a_260^post7 == 0 /\ a_260^0-a_237^post7 <= 0 /\ a_147^0-a_147^post7 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ a_215^0-a_215^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ f_170^0-f_170^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -a_260^0+a_237^post7 <= 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ __disjvr_7^0-__disjvr_7^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -length_29^post7+length_29^0 == 0 /\ len_183^0-len_183^post7 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ i_94^0-i_94^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post7+head_SLAM_f_26^0 == 0 /\ -r_124^post7+r_124^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -len_132^post7+len_132^0 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ -head_14^post7+head_14^0 == 0 /\ a_116^0-a_116^post7 == 0 /\ -head_175^post7+head_175^0 == 0 /\ -head_27^post7+head_27^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -y_19^post7+y_19^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ x_20^0-x_20^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_184^post7+a_184^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0), cost: 1
   8: l2 -> l0 : __disjvr_0^0'=__disjvr_0^post8, a_215^0'=a_215^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, __disjvr_21^0'=__disjvr_21^post8, __disjvr_3^0'=__disjvr_3^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, head_129^0'=head_129^post8, __disjvr_24^0'=__disjvr_24^post8, len_183^0'=len_183^post8, __disjvr_8^0'=__disjvr_8^post8, a_116^0'=a_116^post8, tmp_34^0'=tmp_34^post8, __disjvr_19^0'=__disjvr_19^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, __disjvr_29^0'=__disjvr_29^post8, r_39^0'=r_39^post8, __disjvr_11^0'=__disjvr_11^post8, a_260^0'=a_260^post8, i_30^0'=i_30^post8, __disjvr_5^0'=__disjvr_5^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_16^0'=__disjvr_16^post8, head_175^0'=head_175^post8, __disjvr_26^0'=__disjvr_26^post8, nondet_12^0'=nondet_12^post8, a_184^0'=a_184^post8, x_20^0'=x_20^post8, __disjvr_20^0'=__disjvr_20^post8, i_167^0'=i_167^post8, __disjvr_30^0'=__disjvr_30^post8, rcd_88^0'=rcd_88^post8, __disjvr_13^0'=__disjvr_13^post8, f_170^0'=f_170^post8, __disjvr_23^0'=__disjvr_23^post8, len_132^0'=len_132^post8, __disjvr_7^0'=__disjvr_7^post8, temp0_15^0'=temp0_15^post8, temp_35^0'=temp_35^post8, __disjvr_18^0'=__disjvr_18^post8, head_32^0'=head_32^post8, __disjvr_28^0'=__disjvr_28^post8, r_163^0'=r_163^post8, __disjvr_10^0'=__disjvr_10^post8, a_237^0'=a_237^post8, y_19^0'=y_19^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_4^0'=__disjvr_4^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, __disjvr_15^0'=__disjvr_15^post8, head_14^0'=head_14^post8, __disjvr_25^0'=__disjvr_25^post8, length_29^0'=length_29^post8, __disjvr_9^0'=__disjvr_9^post8, a_147^0'=a_147^post8, x_16^0'=x_16^post8, __disjvr_1^0'=__disjvr_1^post8, i_108^0'=i_108^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_58^0'=rcd_58^post8, __disjvr_12^0'=__disjvr_12^post8, ct_17^0'=ct_17^post8, i_94^0'=i_94^post8, __disjvr_6^0'=__disjvr_6^post8, t_23^0'=t_23^post8, temp0_31^0'=temp0_31^post8, __disjvr_17^0'=__disjvr_17^post8, head_27^0'=head_27^post8, __disjvr_27^0'=__disjvr_27^post8, r_124^0'=r_124^post8, (a_215^0-a_215^post8 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ head_175^0-head_175^post8 == 0 /\ -t_23^post8+t_23^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ len_132^0-len_132^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ y_19^0-y_19^post8 == 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ -i_94^post8+i_94^0 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -a_147^post8+a_147^0 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ __disjvr_12^0-__disjvr_12^post8 == 0 /\ -head_27^post8+head_27^0 == 0 /\ -r_163^post8+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ head_129^0-head_129^post8 == 0 /\ -f_170^post8+f_170^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ i_108^0-i_108^post8 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ a_116^0-a_116^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ x_20^0-x_20^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -__disjvr_4^post8+__disjvr_4^0 == 0 /\ -temp_35^post8+temp_35^0 == 0 /\ i_167^0-i_167^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ -a_237^post8+a_237^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post8 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post8 == 0 /\ rcd_88^0-rcd_88^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ a_184^0-a_184^post8 == 0 /\ -__disjvr_9^post8+__disjvr_9^0 == 0 /\ a_260^0-a_260^post8 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0), cost: 1
   9: l9 -> l10 : __disjvr_0^0'=__disjvr_0^post9, a_215^0'=a_215^post9, x_SLAM_f_18^0'=x_SLAM_f_18^post9, __disjvr_21^0'=__disjvr_21^post9, __disjvr_3^0'=__disjvr_3^post9, result_11^0'=result_11^post9, __disjvr_14^0'=__disjvr_14^post9, head_129^0'=head_129^post9, __disjvr_24^0'=__disjvr_24^post9, len_183^0'=len_183^post9, __disjvr_8^0'=__disjvr_8^post9, a_116^0'=a_116^post9, tmp_34^0'=tmp_34^post9, __disjvr_19^0'=__disjvr_19^post9, head_SLAM_f_26^0'=head_SLAM_f_26^post9, __disjvr_29^0'=__disjvr_29^post9, r_39^0'=r_39^post9, __disjvr_11^0'=__disjvr_11^post9, a_260^0'=a_260^post9, i_30^0'=i_30^post9, __disjvr_5^0'=__disjvr_5^post9, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post9, __disjvr_16^0'=__disjvr_16^post9, head_175^0'=head_175^post9, __disjvr_26^0'=__disjvr_26^post9, nondet_12^0'=nondet_12^post9, a_184^0'=a_184^post9, x_20^0'=x_20^post9, __disjvr_20^0'=__disjvr_20^post9, i_167^0'=i_167^post9, __disjvr_30^0'=__disjvr_30^post9, rcd_88^0'=rcd_88^post9, __disjvr_13^0'=__disjvr_13^post9, f_170^0'=f_170^post9, __disjvr_23^0'=__disjvr_23^post9, len_132^0'=len_132^post9, __disjvr_7^0'=__disjvr_7^post9, temp0_15^0'=temp0_15^post9, temp_35^0'=temp_35^post9, __disjvr_18^0'=__disjvr_18^post9, head_32^0'=head_32^post9, __disjvr_28^0'=__disjvr_28^post9, r_163^0'=r_163^post9, __disjvr_10^0'=__disjvr_10^post9, a_237^0'=a_237^post9, y_19^0'=y_19^post9, __disjvr_22^0'=__disjvr_22^post9, __disjvr_4^0'=__disjvr_4^post9, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9, __disjvr_15^0'=__disjvr_15^post9, head_14^0'=head_14^post9, __disjvr_25^0'=__disjvr_25^post9, length_29^0'=length_29^post9, __disjvr_9^0'=__disjvr_9^post9, a_147^0'=a_147^post9, x_16^0'=x_16^post9, __disjvr_1^0'=__disjvr_1^post9, i_108^0'=i_108^post9, __disjvr_2^0'=__disjvr_2^post9, rcd_58^0'=rcd_58^post9, __disjvr_12^0'=__disjvr_12^post9, ct_17^0'=ct_17^post9, i_94^0'=i_94^post9, __disjvr_6^0'=__disjvr_6^post9, t_23^0'=t_23^post9, temp0_31^0'=temp0_31^post9, __disjvr_17^0'=__disjvr_17^post9, head_27^0'=head_27^post9, __disjvr_27^0'=__disjvr_27^post9, r_124^0'=r_124^post9, (0 == 0 /\ r_163^0-r_163^post9 == 0 /\ x_20^0-y_19^0 <= 0 /\ a_215^0-a_215^post9 == 0 /\ -temp0_15^0+result_11^post9 == 0 /\ -r_39^post9+r_39^0 == 0 /\ -__disjvr_13^post9+__disjvr_13^0 == 0 /\ -__disjvr_1^post9+__disjvr_1^0 == 0 /\ -head_27^post9+head_27^0 == 0 /\ -__disjvr_4^post9+__disjvr_4^0 == 0 /\ __disjvr_20^0-__disjvr_20^post9 == 0 /\ -__disjvr_5^post9+__disjvr_5^0 == 0 /\ __disjvr_22^0-__disjvr_22^post9 == 0 /\ __disjvr_24^0-__disjvr_24^post9 == 0 /\ __disjvr_21^0-__disjvr_21^post9 == 0 /\ -r_124^post9+r_124^0 == 0 /\ -i_167^post9+i_167^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post9 == 0 /\ rcd_88^0-rcd_88^post9 == 0 /\ -__disjvr_15^post9+__disjvr_15^0 == 0 /\ -nondet_12^post9+nondet_12^0 == 0 /\ len_183^0-len_183^post9 == 0 /\ a_184^0-a_184^post9 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -__disjvr_12^post9+__disjvr_12^0 == 0 /\ -a_147^post9+a_147^0 == 0 /\ -a_215^0 <= 0 /\ -__disjvr_28^post9+__disjvr_28^0 == 0 /\ temp_35^0-temp_35^post9 == 0 /\ -__disjvr_27^post9+__disjvr_27^0 == 0 /\ -a_237^post9+a_237^0 == 0 /\ -__disjvr_9^post9+__disjvr_9^0 == 0 /\ -i_94^post9+i_94^0 == 0 /\ __disjvr_23^0-__disjvr_23^post9 == 0 /\ i_30^0-i_30^post9 == 0 /\ -__disjvr_25^post9+__disjvr_25^0 == 0 /\ __disjvr_18^0-__disjvr_18^post9 == 0 /\ __disjvr_26^0-__disjvr_26^post9 == 0 /\ __disjvr_19^0-__disjvr_19^post9 == 0 /\ -__disjvr_7^post9+__disjvr_7^0 == 0 /\ -__disjvr_17^post9+__disjvr_17^0 == 0 /\ -head_175^post9+head_175^0 == 0 /\ __disjvr_3^0-__disjvr_3^post9 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post9 == 0 /\ -len_132^post9+len_132^0 == 0 /\ -a_260^post9+a_260^0 == 0 /\ -i_108^post9+i_108^0 == 0 /\ -__disjvr_2^post9+__disjvr_2^0 == 0 /\ -head_32^post9+head_32^0 == 0 /\ __disjvr_0^0-__disjvr_0^post9 == 0 /\ a_116^0-a_116^post9 == 0 /\ __disjvr_11^0-__disjvr_11^post9 == 0 /\ -temp0_15^post9+temp0_15^0 == 0 /\ -__disjvr_10^post9+__disjvr_10^0 == 0 /\ __disjvr_14^0-__disjvr_14^post9 == 0 /\ -temp0_31^post9+temp0_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post9 == 0 /\ -__disjvr_30^post9+__disjvr_30^0 == 0 /\ tmp_34^0-tmp_34^post9 == 0 /\ -rcd_58^post9+rcd_58^0 == 0 /\ -f_170^post9+f_170^0 == 0 /\ -length_29^post9+length_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post9 == 0 /\ head_129^0-head_129^post9 == 0 /\ __disjvr_29^0-__disjvr_29^post9 == 0 /\ -__disjvr_6^post9+__disjvr_6^0 == 0), cost: 1
  12: l9 -> l12 : __disjvr_0^0'=__disjvr_0^post12, a_215^0'=a_215^post12, x_SLAM_f_18^0'=x_SLAM_f_18^post12, __disjvr_21^0'=__disjvr_21^post12, __disjvr_3^0'=__disjvr_3^post12, result_11^0'=result_11^post12, __disjvr_14^0'=__disjvr_14^post12, head_129^0'=head_129^post12, __disjvr_24^0'=__disjvr_24^post12, len_183^0'=len_183^post12, __disjvr_8^0'=__disjvr_8^post12, a_116^0'=a_116^post12, tmp_34^0'=tmp_34^post12, __disjvr_19^0'=__disjvr_19^post12, head_SLAM_f_26^0'=head_SLAM_f_26^post12, __disjvr_29^0'=__disjvr_29^post12, r_39^0'=r_39^post12, __disjvr_11^0'=__disjvr_11^post12, a_260^0'=a_260^post12, i_30^0'=i_30^post12, __disjvr_5^0'=__disjvr_5^post12, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post12, __disjvr_16^0'=__disjvr_16^post12, head_175^0'=head_175^post12, __disjvr_26^0'=__disjvr_26^post12, nondet_12^0'=nondet_12^post12, a_184^0'=a_184^post12, x_20^0'=x_20^post12, __disjvr_20^0'=__disjvr_20^post12, i_167^0'=i_167^post12, __disjvr_30^0'=__disjvr_30^post12, rcd_88^0'=rcd_88^post12, __disjvr_13^0'=__disjvr_13^post12, f_170^0'=f_170^post12, __disjvr_23^0'=__disjvr_23^post12, len_132^0'=len_132^post12, __disjvr_7^0'=__disjvr_7^post12, temp0_15^0'=temp0_15^post12, temp_35^0'=temp_35^post12, __disjvr_18^0'=__disjvr_18^post12, head_32^0'=head_32^post12, __disjvr_28^0'=__disjvr_28^post12, r_163^0'=r_163^post12, __disjvr_10^0'=__disjvr_10^post12, a_237^0'=a_237^post12, y_19^0'=y_19^post12, __disjvr_22^0'=__disjvr_22^post12, __disjvr_4^0'=__disjvr_4^post12, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12, __disjvr_15^0'=__disjvr_15^post12, head_14^0'=head_14^post12, __disjvr_25^0'=__disjvr_25^post12, length_29^0'=length_29^post12, __disjvr_9^0'=__disjvr_9^post12, a_147^0'=a_147^post12, x_16^0'=x_16^post12, __disjvr_1^0'=__disjvr_1^post12, i_108^0'=i_108^post12, __disjvr_2^0'=__disjvr_2^post12, rcd_58^0'=rcd_58^post12, __disjvr_12^0'=__disjvr_12^post12, ct_17^0'=ct_17^post12, i_94^0'=i_94^post12, __disjvr_6^0'=__disjvr_6^post12, t_23^0'=t_23^post12, temp0_31^0'=temp0_31^post12, __disjvr_17^0'=__disjvr_17^post12, head_27^0'=head_27^post12, __disjvr_27^0'=__disjvr_27^post12, r_124^0'=r_124^post12, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post12 == 0 /\ head_175^0-head_175^post12 == 0 /\ -i_108^post12+i_108^0 == 0 /\ __disjvr_13^0-__disjvr_13^post12 == 0 /\ -__disjvr_15^post12+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post12+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -nondet_12^post12+nondet_12^0 == 0 /\ __disjvr_30^0-__disjvr_30^post12 == 0 /\ i_30^0-i_30^post12 == 0 /\ -a_147^post12+a_147^0 == 0 /\ __disjvr_19^0-__disjvr_19^post12 == 0 /\ -len_132^post12+len_132^0 == 0 /\ __disjvr_24^0-__disjvr_24^post12 == 0 /\ -head_27^post12+head_27^0 == 0 /\ -__disjvr_17^post12+__disjvr_17^0 == 0 /\ -length_29^post12+length_29^0 == 0 /\ -__disjvr_23^post12+__disjvr_23^0 == 0 /\ -__disjvr_6^post12+__disjvr_6^0 == 0 /\ -y_19^post12+y_19^0 == 0 /\ len_183^0-len_183^post12 == 0 /\ -a_184^post12+a_184^0 == 0 /\ -__disjvr_2^post12+__disjvr_2^0 == 0 /\ head_32^0-head_32^post12 == 0 /\ -a_215^0 <= 0 /\ i_167^0-i_167^post12 == 0 /\ __disjvr_7^0-__disjvr_7^post12 == 0 /\ -rcd_88^post12+rcd_88^0 == 0 /\ __disjvr_0^0-__disjvr_0^post12 == 0 /\ r_39^0-r_39^post12 == 0 /\ -temp0_31^post12+temp0_31^0 == 0 /\ __disjvr_16^0-__disjvr_16^post12 == 0 /\ __disjvr_3^0-__disjvr_3^post12 == 0 /\ r_163^0-r_163^post12 == 0 /\ __disjvr_12^0-__disjvr_12^post12 == 0 /\ -rcd_58^post12+rcd_58^0 == 0 /\ __disjvr_5^0-__disjvr_5^post12 == 0 /\ -r_124^post12+r_124^0 == 0 /\ -temp_35^post12+temp_35^0 == 0 /\ f_170^0-f_170^post12 == 0 /\ __disjvr_20^0-__disjvr_20^post12 == 0 /\ -__disjvr_22^post12+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post12 == 0 /\ head_129^0-head_129^post12 == 0 /\ __disjvr_4^0-__disjvr_4^post12 == 0 /\ x_20^0-x_20^post12 == 0 /\ a_260^0-a_260^post12 == 0 /\ -__disjvr_1^post12+__disjvr_1^0 == 0 /\ i_94^0-i_94^post12 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post12 == 0 /\ __disjvr_25^0-__disjvr_25^post12 == 0 /\ __disjvr_11^0-__disjvr_11^post12 == 0 /\ -__disjvr_10^post12+__disjvr_10^0 == 0 /\ -a_237^post12+a_237^0 == 0 /\ a_116^0-a_116^post12 == 0 /\ -__disjvr_27^post12+__disjvr_27^0 == 0 /\ tmp_34^0-tmp_34^post12 == 0 /\ -temp0_15^post12+temp0_15^0 == 0 /\ -__disjvr_9^post12+__disjvr_9^0 == 0 /\ a_215^0-a_215^post12 == 0 /\ __disjvr_28^0-__disjvr_28^post12 == 0 /\ __disjvr_29^0-__disjvr_29^post12 == 0 /\ __disjvr_14^0-__disjvr_14^post12 == 0 /\ __disjvr_26^0-__disjvr_26^post12 == 0 /\ result_11^0-result_11^post12 == 0 /\ -t_23^post12+t_23^0 == 0 /\ -__disjvr_18^post12+__disjvr_18^0 == 0), cost: 1
  10: l10 -> l11 : __disjvr_0^0'=__disjvr_0^post10, a_215^0'=a_215^post10, x_SLAM_f_18^0'=x_SLAM_f_18^post10, __disjvr_21^0'=__disjvr_21^post10, __disjvr_3^0'=__disjvr_3^post10, result_11^0'=result_11^post10, __disjvr_14^0'=__disjvr_14^post10, head_129^0'=head_129^post10, __disjvr_24^0'=__disjvr_24^post10, len_183^0'=len_183^post10, __disjvr_8^0'=__disjvr_8^post10, a_116^0'=a_116^post10, tmp_34^0'=tmp_34^post10, __disjvr_19^0'=__disjvr_19^post10, head_SLAM_f_26^0'=head_SLAM_f_26^post10, __disjvr_29^0'=__disjvr_29^post10, r_39^0'=r_39^post10, __disjvr_11^0'=__disjvr_11^post10, a_260^0'=a_260^post10, i_30^0'=i_30^post10, __disjvr_5^0'=__disjvr_5^post10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post10, __disjvr_16^0'=__disjvr_16^post10, head_175^0'=head_175^post10, __disjvr_26^0'=__disjvr_26^post10, nondet_12^0'=nondet_12^post10, a_184^0'=a_184^post10, x_20^0'=x_20^post10, __disjvr_20^0'=__disjvr_20^post10, i_167^0'=i_167^post10, __disjvr_30^0'=__disjvr_30^post10, rcd_88^0'=rcd_88^post10, __disjvr_13^0'=__disjvr_13^post10, f_170^0'=f_170^post10, __disjvr_23^0'=__disjvr_23^post10, len_132^0'=len_132^post10, __disjvr_7^0'=__disjvr_7^post10, temp0_15^0'=temp0_15^post10, temp_35^0'=temp_35^post10, __disjvr_18^0'=__disjvr_18^post10, head_32^0'=head_32^post10, __disjvr_28^0'=__disjvr_28^post10, r_163^0'=r_163^post10, __disjvr_10^0'=__disjvr_10^post10, a_237^0'=a_237^post10, y_19^0'=y_19^post10, __disjvr_22^0'=__disjvr_22^post10, __disjvr_4^0'=__disjvr_4^post10, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10, __disjvr_15^0'=__disjvr_15^post10, head_14^0'=head_14^post10, __disjvr_25^0'=__disjvr_25^post10, length_29^0'=length_29^post10, __disjvr_9^0'=__disjvr_9^post10, a_147^0'=a_147^post10, x_16^0'=x_16^post10, __disjvr_1^0'=__disjvr_1^post10, i_108^0'=i_108^post10, __disjvr_2^0'=__disjvr_2^post10, rcd_58^0'=rcd_58^post10, __disjvr_12^0'=__disjvr_12^post10, ct_17^0'=ct_17^post10, i_94^0'=i_94^post10, __disjvr_6^0'=__disjvr_6^post10, t_23^0'=t_23^post10, temp0_31^0'=temp0_31^post10, __disjvr_17^0'=__disjvr_17^post10, head_27^0'=head_27^post10, __disjvr_27^0'=__disjvr_27^post10, r_124^0'=r_124^post10, (-len_132^post10+len_132^0 == 0 /\ f_170^0-f_170^post10 == 0 /\ __disjvr_20^0-__disjvr_20^post10 == 0 /\ i_30^0-i_30^post10 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post10 == 0 /\ -__disjvr_30^post10+__disjvr_30^0 == 0 /\ -__disjvr_2^post10+__disjvr_2^0 == 0 /\ head_129^0-head_129^post10 == 0 /\ __disjvr_8^0-__disjvr_8^post10 == 0 /\ -ct_17^post10+ct_17^0 == 0 /\ -head_27^post10+head_27^0 == 0 /\ -__disjvr_28^post10+__disjvr_28^0 == 0 /\ -head_14^post10+head_14^0 == 0 /\ a_116^0-a_116^post10 == 0 /\ -__disjvr_27^post10+__disjvr_27^0 == 0 /\ a_260^0-a_260^post10 == 0 /\ -length_29^post10+length_29^0 == 0 /\ -__disjvr_6^post10+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post10 == 0 /\ -__disjvr_29^post10+__disjvr_29^0 == 0 /\ -rcd_58^post10+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post10 == 0 /\ -__disjvr_19^post10+__disjvr_19^0 == 0 /\ a_215^0-a_215^post10 == 0 /\ -head_175^post10+head_175^0 == 0 /\ a_147^0-a_147^post10 == 0 /\ __disjvr_12^0-__disjvr_12^post10 == 0 /\ __disjvr_16^0-__disjvr_16^post10 == 0 /\ -__disjvr_17^post10+__disjvr_17^0 == 0 /\ -i_167^post10+i_167^0 == 0 /\ __disjvr_14^0-__disjvr_14^post10 == 0 /\ __disjvr_5^0-__disjvr_5^post10 == 0 /\ -__disjvr_15^post10+__disjvr_15^0 == 0 /\ -__disjvr_7^post10+__disjvr_7^0 == 0 /\ -__disjvr_10^post10+__disjvr_10^0 == 0 /\ -__disjvr_4^post10+__disjvr_4^0 == 0 /\ -__disjvr_3^post10+__disjvr_3^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post10 == 0 /\ nondet_12^0-nondet_12^post10 == 0 /\ y_19^0-y_19^post10 == 0 /\ -x_16^post10+x_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post10 == 0 /\ -__disjvr_11^post10+__disjvr_11^0 == 0 /\ __disjvr_23^0-__disjvr_23^post10 == 0 /\ __disjvr_21^0-__disjvr_21^post10 == 0 /\ -__disjvr_13^post10+__disjvr_13^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post10 == 0 /\ __disjvr_24^0-__disjvr_24^post10 == 0 /\ -temp0_31^post10+temp0_31^0 == 0 /\ -__disjvr_1^post10+__disjvr_1^0 == 0 /\ -__disjvr_22^post10+__disjvr_22^0 == 0 /\ x_20^0-x_20^post10 == 0 /\ -a_237^post10+a_237^0 == 0 /\ rcd_88^0-rcd_88^post10 == 0 /\ len_183^0-len_183^post10 == 0 /\ -__disjvr_9^post10+__disjvr_9^0 == 0 /\ a_184^0-a_184^post10 == 0 /\ __disjvr_4^post10-__disjvr_4^0 == 0 /\ head_32^0-head_32^post10 == 0 /\ -i_94^post10+i_94^0 == 0 /\ r_163^0-r_163^post10 == 0 /\ r_39^0-r_39^post10 == 0 /\ -__disjvr_18^post10+__disjvr_18^0 == 0 /\ -__disjvr_26^post10+__disjvr_26^0 == 0 /\ -r_124^post10+r_124^0 == 0 /\ result_11^0-result_11^post10 == 0 /\ __disjvr_0^0-__disjvr_0^post10 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post10 == 0 /\ -i_108^post10+i_108^0 == 0 /\ -t_23^post10+t_23^0 == 0 /\ temp0_15^0-temp0_15^post10 == 0), cost: 1
  11: l11 -> l1 : __disjvr_0^0'=__disjvr_0^post11, a_215^0'=a_215^post11, x_SLAM_f_18^0'=x_SLAM_f_18^post11, __disjvr_21^0'=__disjvr_21^post11, __disjvr_3^0'=__disjvr_3^post11, result_11^0'=result_11^post11, __disjvr_14^0'=__disjvr_14^post11, head_129^0'=head_129^post11, __disjvr_24^0'=__disjvr_24^post11, len_183^0'=len_183^post11, __disjvr_8^0'=__disjvr_8^post11, a_116^0'=a_116^post11, tmp_34^0'=tmp_34^post11, __disjvr_19^0'=__disjvr_19^post11, head_SLAM_f_26^0'=head_SLAM_f_26^post11, __disjvr_29^0'=__disjvr_29^post11, r_39^0'=r_39^post11, __disjvr_11^0'=__disjvr_11^post11, a_260^0'=a_260^post11, i_30^0'=i_30^post11, __disjvr_5^0'=__disjvr_5^post11, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post11, __disjvr_16^0'=__disjvr_16^post11, head_175^0'=head_175^post11, __disjvr_26^0'=__disjvr_26^post11, nondet_12^0'=nondet_12^post11, a_184^0'=a_184^post11, x_20^0'=x_20^post11, __disjvr_20^0'=__disjvr_20^post11, i_167^0'=i_167^post11, __disjvr_30^0'=__disjvr_30^post11, rcd_88^0'=rcd_88^post11, __disjvr_13^0'=__disjvr_13^post11, f_170^0'=f_170^post11, __disjvr_23^0'=__disjvr_23^post11, len_132^0'=len_132^post11, __disjvr_7^0'=__disjvr_7^post11, temp0_15^0'=temp0_15^post11, temp_35^0'=temp_35^post11, __disjvr_18^0'=__disjvr_18^post11, head_32^0'=head_32^post11, __disjvr_28^0'=__disjvr_28^post11, r_163^0'=r_163^post11, __disjvr_10^0'=__disjvr_10^post11, a_237^0'=a_237^post11, y_19^0'=y_19^post11, __disjvr_22^0'=__disjvr_22^post11, __disjvr_4^0'=__disjvr_4^post11, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11, __disjvr_15^0'=__disjvr_15^post11, head_14^0'=head_14^post11, __disjvr_25^0'=__disjvr_25^post11, length_29^0'=length_29^post11, __disjvr_9^0'=__disjvr_9^post11, a_147^0'=a_147^post11, x_16^0'=x_16^post11, __disjvr_1^0'=__disjvr_1^post11, i_108^0'=i_108^post11, __disjvr_2^0'=__disjvr_2^post11, rcd_58^0'=rcd_58^post11, __disjvr_12^0'=__disjvr_12^post11, ct_17^0'=ct_17^post11, i_94^0'=i_94^post11, __disjvr_6^0'=__disjvr_6^post11, t_23^0'=t_23^post11, temp0_31^0'=temp0_31^post11, __disjvr_17^0'=__disjvr_17^post11, head_27^0'=head_27^post11, __disjvr_27^0'=__disjvr_27^post11, r_124^0'=r_124^post11, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post11+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -r_124^post11+r_124^0 == 0 /\ -temp_35^post11+temp_35^0 == 0 /\ a_215^0-a_215^post11 == 0 /\ a_184^0-a_184^post11 == 0 /\ -x_16^post11+x_16^0 == 0 /\ -a_260^post11+a_260^0 == 0 /\ result_11^0-result_11^post11 == 0 /\ __disjvr_7^0-__disjvr_7^post11 == 0 /\ -x_20^post11+x_20^0 == 0 /\ -__disjvr_22^post11+__disjvr_22^0 == 0 /\ __disjvr_26^0-__disjvr_26^post11 == 0 /\ -__disjvr_1^post11+__disjvr_1^0 == 0 /\ __disjvr_5^0-__disjvr_5^post11 == 0 /\ -i_94^post11+i_94^0 == 0 /\ __disjvr_8^0-__disjvr_8^post11 == 0 /\ -temp0_15^post11+temp0_15^0 == 0 /\ -__disjvr_27^post11+__disjvr_27^0 == 0 /\ -__disjvr_9^post11+__disjvr_9^0 == 0 /\ -__disjvr_12^post11+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post11 == 0 /\ -tmp_34^post11+tmp_34^0 == 0 /\ rcd_58^0-rcd_58^post11 == 0 /\ head_129^0-head_129^post11 == 0 /\ ct_17^0-ct_17^post11 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post11 == 0 /\ -__disjvr_25^post11+__disjvr_25^0 == 0 /\ -__disjvr_20^post11+__disjvr_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post11 == 0 /\ __disjvr_11^0-__disjvr_11^post11 == 0 /\ -t_23^post11+t_23^0 == 0 /\ len_183^0-len_183^post11 == 0 /\ len_132^0-len_132^post11 == 0 /\ -r_39^post11+r_39^0 == 0 /\ a_237^0-a_237^post11 == 0 /\ -i_108^post11+i_108^0 == 0 /\ __disjvr_3^0-__disjvr_3^post11 == 0 /\ -a_147^post11+a_147^0 == 0 /\ -__disjvr_17^post11+__disjvr_17^0 == 0 /\ i_167^0-i_167^post11 == 0 /\ __disjvr_15^0-__disjvr_15^post11 == 0 /\ -head_27^post11+head_27^0 == 0 /\ -length_29^post11+length_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post11 == 0 /\ -__disjvr_28^post11+__disjvr_28^0 == 0 /\ __disjvr_0^0-__disjvr_0^post11 == 0 /\ -head_14^post11+head_14^0 == 0 /\ -__disjvr_23^post11+__disjvr_23^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_2^post11+__disjvr_2^0 == 0 /\ __disjvr_29^0-__disjvr_29^post11 == 0 /\ -y_19^post11+y_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post11 == 0 /\ i_30^0-i_30^post11 == 0 /\ __disjvr_13^0-__disjvr_13^post11 == 0 /\ -__disjvr_6^post11+__disjvr_6^0 == 0 /\ head_175^0-head_175^post11 == 0 /\ -r_163^post11+r_163^0 == 0 /\ __disjvr_30^0-__disjvr_30^post11 == 0 /\ -temp0_31^post11+temp0_31^0 == 0 /\ -rcd_88^post11+rcd_88^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post11 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post11 == 0 /\ __disjvr_10^0-__disjvr_10^post11 == 0 /\ -__disjvr_19^post11+__disjvr_19^0 == 0 /\ -head_32^post11+head_32^0 == 0 /\ -f_170^post11+f_170^0 == 0 /\ __disjvr_24^0-__disjvr_24^post11 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post11+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_4^post11+__disjvr_4^0 == 0 /\ a_116^0-a_116^post11 == 0), cost: 1
  13: l12 -> l13 : __disjvr_0^0'=__disjvr_0^post13, a_215^0'=a_215^post13, x_SLAM_f_18^0'=x_SLAM_f_18^post13, __disjvr_21^0'=__disjvr_21^post13, __disjvr_3^0'=__disjvr_3^post13, result_11^0'=result_11^post13, __disjvr_14^0'=__disjvr_14^post13, head_129^0'=head_129^post13, __disjvr_24^0'=__disjvr_24^post13, len_183^0'=len_183^post13, __disjvr_8^0'=__disjvr_8^post13, a_116^0'=a_116^post13, tmp_34^0'=tmp_34^post13, __disjvr_19^0'=__disjvr_19^post13, head_SLAM_f_26^0'=head_SLAM_f_26^post13, __disjvr_29^0'=__disjvr_29^post13, r_39^0'=r_39^post13, __disjvr_11^0'=__disjvr_11^post13, a_260^0'=a_260^post13, i_30^0'=i_30^post13, __disjvr_5^0'=__disjvr_5^post13, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post13, __disjvr_16^0'=__disjvr_16^post13, head_175^0'=head_175^post13, __disjvr_26^0'=__disjvr_26^post13, nondet_12^0'=nondet_12^post13, a_184^0'=a_184^post13, x_20^0'=x_20^post13, __disjvr_20^0'=__disjvr_20^post13, i_167^0'=i_167^post13, __disjvr_30^0'=__disjvr_30^post13, rcd_88^0'=rcd_88^post13, __disjvr_13^0'=__disjvr_13^post13, f_170^0'=f_170^post13, __disjvr_23^0'=__disjvr_23^post13, len_132^0'=len_132^post13, __disjvr_7^0'=__disjvr_7^post13, temp0_15^0'=temp0_15^post13, temp_35^0'=temp_35^post13, __disjvr_18^0'=__disjvr_18^post13, head_32^0'=head_32^post13, __disjvr_28^0'=__disjvr_28^post13, r_163^0'=r_163^post13, __disjvr_10^0'=__disjvr_10^post13, a_237^0'=a_237^post13, y_19^0'=y_19^post13, __disjvr_22^0'=__disjvr_22^post13, __disjvr_4^0'=__disjvr_4^post13, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13, __disjvr_15^0'=__disjvr_15^post13, head_14^0'=head_14^post13, __disjvr_25^0'=__disjvr_25^post13, length_29^0'=length_29^post13, __disjvr_9^0'=__disjvr_9^post13, a_147^0'=a_147^post13, x_16^0'=x_16^post13, __disjvr_1^0'=__disjvr_1^post13, i_108^0'=i_108^post13, __disjvr_2^0'=__disjvr_2^post13, rcd_58^0'=rcd_58^post13, __disjvr_12^0'=__disjvr_12^post13, ct_17^0'=ct_17^post13, i_94^0'=i_94^post13, __disjvr_6^0'=__disjvr_6^post13, t_23^0'=t_23^post13, temp0_31^0'=temp0_31^post13, __disjvr_17^0'=__disjvr_17^post13, head_27^0'=head_27^post13, __disjvr_27^0'=__disjvr_27^post13, r_124^0'=r_124^post13, (result_11^0-result_11^post13 == 0 /\ -rcd_58^post13+rcd_58^0 == 0 /\ -__disjvr_22^post13+__disjvr_22^0 == 0 /\ -head_32^post13+head_32^0 == 0 /\ -__disjvr_7^post13+__disjvr_7^0 == 0 /\ -a_237^post13+a_237^0 == 0 /\ a_260^0-a_260^post13 == 0 /\ -__disjvr_11^post13+__disjvr_11^0 == 0 /\ __disjvr_18^0-__disjvr_18^post13 == 0 /\ -__disjvr_1^post13+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post13 == 0 /\ -__disjvr_16^post13+__disjvr_16^0 == 0 /\ r_39^0-r_39^post13 == 0 /\ -__disjvr_5^post13+__disjvr_5^0 == 0 /\ __disjvr_26^0-__disjvr_26^post13 == 0 /\ __disjvr_3^0-__disjvr_3^post13 == 0 /\ -r_124^post13+r_124^0 == 0 /\ -__disjvr_25^post13+__disjvr_25^0 == 0 /\ __disjvr_10^0-__disjvr_10^post13 == 0 /\ head_175^0-head_175^post13 == 0 /\ -length_29^post13+length_29^0 == 0 /\ ct_17^0-ct_17^post13 == 0 /\ __disjvr_14^0-__disjvr_14^post13 == 0 /\ __disjvr_20^0-__disjvr_20^post13 == 0 /\ -i_30^post13+i_30^0 == 0 /\ -i_94^post13+i_94^0 == 0 /\ __disjvr_21^0-__disjvr_21^post13 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post13 == 0 /\ -t_23^post13+t_23^0 == 0 /\ -__disjvr_9^post13+__disjvr_9^0 == 0 /\ x_20^0-x_20^post13 == 0 /\ __disjvr_24^0-__disjvr_24^post13 == 0 /\ -__disjvr_12^post13+__disjvr_12^0 == 0 /\ __disjvr_5^post13-__disjvr_5^0 == 0 /\ -x_16^post13+x_16^0 == 0 /\ -head_14^post13+head_14^0 == 0 /\ -__disjvr_27^post13+__disjvr_27^0 == 0 /\ -i_108^post13+i_108^0 == 0 /\ __disjvr_15^0-__disjvr_15^post13 == 0 /\ a_184^0-a_184^post13 == 0 /\ i_167^0-i_167^post13 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post13 == 0 /\ tmp_34^0-tmp_34^post13 == 0 /\ -__disjvr_6^post13+__disjvr_6^0 == 0 /\ -a_116^post13+a_116^0 == 0 /\ temp_35^0-temp_35^post13 == 0 /\ -f_170^post13+f_170^0 == 0 /\ __disjvr_23^0-__disjvr_23^post13 == 0 /\ a_215^0-a_215^post13 == 0 /\ -head_27^post13+head_27^0 == 0 /\ -len_132^post13+len_132^0 == 0 /\ -y_19^post13+y_19^0 == 0 /\ -__disjvr_30^post13+__disjvr_30^0 == 0 /\ -__disjvr_17^post13+__disjvr_17^0 == 0 /\ -__disjvr_28^post13+__disjvr_28^0 == 0 /\ temp0_15^0-temp0_15^post13 == 0 /\ __disjvr_29^0-__disjvr_29^post13 == 0 /\ r_163^0-r_163^post13 == 0 /\ __disjvr_8^0-__disjvr_8^post13 == 0 /\ -__disjvr_2^post13+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post13 == 0 /\ -__disjvr_13^post13+__disjvr_13^0 == 0 /\ __disjvr_19^0-__disjvr_19^post13 == 0 /\ head_129^0-head_129^post13 == 0 /\ -temp0_31^post13+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post13 == 0 /\ -a_147^post13+a_147^0 == 0 /\ len_183^0-len_183^post13 == 0 /\ -__disjvr_4^post13+__disjvr_4^0 == 0 /\ rcd_88^0-rcd_88^post13 == 0), cost: 1
  14: l13 -> l14 : __disjvr_0^0'=__disjvr_0^post14, a_215^0'=a_215^post14, x_SLAM_f_18^0'=x_SLAM_f_18^post14, __disjvr_21^0'=__disjvr_21^post14, __disjvr_3^0'=__disjvr_3^post14, result_11^0'=result_11^post14, __disjvr_14^0'=__disjvr_14^post14, head_129^0'=head_129^post14, __disjvr_24^0'=__disjvr_24^post14, len_183^0'=len_183^post14, __disjvr_8^0'=__disjvr_8^post14, a_116^0'=a_116^post14, tmp_34^0'=tmp_34^post14, __disjvr_19^0'=__disjvr_19^post14, head_SLAM_f_26^0'=head_SLAM_f_26^post14, __disjvr_29^0'=__disjvr_29^post14, r_39^0'=r_39^post14, __disjvr_11^0'=__disjvr_11^post14, a_260^0'=a_260^post14, i_30^0'=i_30^post14, __disjvr_5^0'=__disjvr_5^post14, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post14, __disjvr_16^0'=__disjvr_16^post14, head_175^0'=head_175^post14, __disjvr_26^0'=__disjvr_26^post14, nondet_12^0'=nondet_12^post14, a_184^0'=a_184^post14, x_20^0'=x_20^post14, __disjvr_20^0'=__disjvr_20^post14, i_167^0'=i_167^post14, __disjvr_30^0'=__disjvr_30^post14, rcd_88^0'=rcd_88^post14, __disjvr_13^0'=__disjvr_13^post14, f_170^0'=f_170^post14, __disjvr_23^0'=__disjvr_23^post14, len_132^0'=len_132^post14, __disjvr_7^0'=__disjvr_7^post14, temp0_15^0'=temp0_15^post14, temp_35^0'=temp_35^post14, __disjvr_18^0'=__disjvr_18^post14, head_32^0'=head_32^post14, __disjvr_28^0'=__disjvr_28^post14, r_163^0'=r_163^post14, __disjvr_10^0'=__disjvr_10^post14, a_237^0'=a_237^post14, y_19^0'=y_19^post14, __disjvr_22^0'=__disjvr_22^post14, __disjvr_4^0'=__disjvr_4^post14, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14, __disjvr_15^0'=__disjvr_15^post14, head_14^0'=head_14^post14, __disjvr_25^0'=__disjvr_25^post14, length_29^0'=length_29^post14, __disjvr_9^0'=__disjvr_9^post14, a_147^0'=a_147^post14, x_16^0'=x_16^post14, __disjvr_1^0'=__disjvr_1^post14, i_108^0'=i_108^post14, __disjvr_2^0'=__disjvr_2^post14, rcd_58^0'=rcd_58^post14, __disjvr_12^0'=__disjvr_12^post14, ct_17^0'=ct_17^post14, i_94^0'=i_94^post14, __disjvr_6^0'=__disjvr_6^post14, t_23^0'=t_23^post14, temp0_31^0'=temp0_31^post14, __disjvr_17^0'=__disjvr_17^post14, head_27^0'=head_27^post14, __disjvr_27^0'=__disjvr_27^post14, r_124^0'=r_124^post14, (-__disjvr_6^post14+__disjvr_6^0 == 0 /\ __disjvr_5^0-__disjvr_5^post14 == 0 /\ -r_39^post14+r_39^0 == 0 /\ -y_19^0 <= 0 /\ -__disjvr_18^post14+__disjvr_18^0 == 0 /\ -head_27^post14+head_27^0 == 0 /\ -i_108^post14+i_108^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post14 == 0 /\ -y_19^post14+y_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post14+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_12^post14+__disjvr_12^0 == 0 /\ -f_170^post14+f_170^0 == 0 /\ -__disjvr_17^post14+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -__disjvr_9^post14+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post14 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post14 == 0 /\ __disjvr_24^0-__disjvr_24^post14 == 0 /\ -__disjvr_15^post14+__disjvr_15^0 == 0 /\ rcd_88^0-rcd_88^post14 == 0 /\ len_183^0-len_183^post14 == 0 /\ -nondet_12^post14+nondet_12^0 == 0 /\ a_184^0-a_184^post14 == 0 /\ -__disjvr_2^post14+__disjvr_2^0 == 0 /\ result_11^0-result_11^post14 == 0 /\ i_167^0-i_167^post14 == 0 /\ a_215^0-a_215^post14 == 0 /\ -ct_17^post14+ct_17^0 == 0 /\ -__disjvr_4^post14+__disjvr_4^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ -a_237^post14+a_237^0 == 0 /\ __disjvr_26^0-__disjvr_26^post14 == 0 /\ head_175^0-head_175^post14 == 0 /\ -temp0_31^post14+temp0_31^0 == 0 /\ -a_147^post14+a_147^0 == 0 /\ __disjvr_19^0-__disjvr_19^post14 == 0 /\ length_29^0-length_29^post14 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ -__disjvr_7^post14+__disjvr_7^0 == 0 /\ __disjvr_30^0-__disjvr_30^post14 == 0 /\ len_132^0-len_132^post14 == 0 /\ i_30^0-i_30^post14 == 0 /\ -rcd_58^post14+rcd_58^0 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ t_23^post14-x_20^0 == 0 /\ __disjvr_8^0-__disjvr_8^post14 == 0 /\ -temp_35^post14+temp_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post14 == 0 /\ -r_163^post14+r_163^0 == 0 /\ -head_32^post14+head_32^0 == 0 /\ -x_20^post14+x_20^0 == 0 /\ head_14^0-head_14^post14 == 0 /\ head_14^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post14 == 0 /\ y_19^0 <= 0 /\ a_116^0-a_116^post14 == 0 /\ -__disjvr_1^post14+__disjvr_1^0 == 0 /\ -a_260^post14+a_260^0 == 0 /\ -head_129^post14+head_129^0 == 0 /\ -__disjvr_25^post14+__disjvr_25^0 == 0 /\ __disjvr_11^0-__disjvr_11^post14 == 0 /\ -r_124^post14+r_124^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ y_19^0-ct_17^0 <= 0 /\ -temp0_15^post14+temp0_15^0 == 0 /\ -__disjvr_23^post14+__disjvr_23^0 == 0 /\ tmp_34^0-tmp_34^post14 == 0 /\ -__disjvr_10^post14+__disjvr_10^0 == 0 /\ __disjvr_28^0-__disjvr_28^post14 == 0 /\ ct_17^0 <= 0 /\ -i_94^post14+i_94^0 == 0 /\ -head_14^0+x_16^0 <= 0 /\ -ct_17^0 <= 0 /\ __disjvr_16^0-__disjvr_16^post14 == 0 /\ -x_16^post14+x_16^0 == 0 /\ __disjvr_22^0-__disjvr_22^post14 == 0 /\ __disjvr_29^0-__disjvr_29^post14 == 0 /\ -__disjvr_27^post14+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post14 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post14+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post14 == 0 /\ __disjvr_3^0-__disjvr_3^post14 == 0), cost: 1
  15: l14 -> l15 : __disjvr_0^0'=__disjvr_0^post15, a_215^0'=a_215^post15, x_SLAM_f_18^0'=x_SLAM_f_18^post15, __disjvr_21^0'=__disjvr_21^post15, __disjvr_3^0'=__disjvr_3^post15, result_11^0'=result_11^post15, __disjvr_14^0'=__disjvr_14^post15, head_129^0'=head_129^post15, __disjvr_24^0'=__disjvr_24^post15, len_183^0'=len_183^post15, __disjvr_8^0'=__disjvr_8^post15, a_116^0'=a_116^post15, tmp_34^0'=tmp_34^post15, __disjvr_19^0'=__disjvr_19^post15, head_SLAM_f_26^0'=head_SLAM_f_26^post15, __disjvr_29^0'=__disjvr_29^post15, r_39^0'=r_39^post15, __disjvr_11^0'=__disjvr_11^post15, a_260^0'=a_260^post15, i_30^0'=i_30^post15, __disjvr_5^0'=__disjvr_5^post15, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post15, __disjvr_16^0'=__disjvr_16^post15, head_175^0'=head_175^post15, __disjvr_26^0'=__disjvr_26^post15, nondet_12^0'=nondet_12^post15, a_184^0'=a_184^post15, x_20^0'=x_20^post15, __disjvr_20^0'=__disjvr_20^post15, i_167^0'=i_167^post15, __disjvr_30^0'=__disjvr_30^post15, rcd_88^0'=rcd_88^post15, __disjvr_13^0'=__disjvr_13^post15, f_170^0'=f_170^post15, __disjvr_23^0'=__disjvr_23^post15, len_132^0'=len_132^post15, __disjvr_7^0'=__disjvr_7^post15, temp0_15^0'=temp0_15^post15, temp_35^0'=temp_35^post15, __disjvr_18^0'=__disjvr_18^post15, head_32^0'=head_32^post15, __disjvr_28^0'=__disjvr_28^post15, r_163^0'=r_163^post15, __disjvr_10^0'=__disjvr_10^post15, a_237^0'=a_237^post15, y_19^0'=y_19^post15, __disjvr_22^0'=__disjvr_22^post15, __disjvr_4^0'=__disjvr_4^post15, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15, __disjvr_15^0'=__disjvr_15^post15, head_14^0'=head_14^post15, __disjvr_25^0'=__disjvr_25^post15, length_29^0'=length_29^post15, __disjvr_9^0'=__disjvr_9^post15, a_147^0'=a_147^post15, x_16^0'=x_16^post15, __disjvr_1^0'=__disjvr_1^post15, i_108^0'=i_108^post15, __disjvr_2^0'=__disjvr_2^post15, rcd_58^0'=rcd_58^post15, __disjvr_12^0'=__disjvr_12^post15, ct_17^0'=ct_17^post15, i_94^0'=i_94^post15, __disjvr_6^0'=__disjvr_6^post15, t_23^0'=t_23^post15, temp0_31^0'=temp0_31^post15, __disjvr_17^0'=__disjvr_17^post15, head_27^0'=head_27^post15, __disjvr_27^0'=__disjvr_27^post15, r_124^0'=r_124^post15, (-result_dot_nondet_sdv_special_RETURN_VALUE_13^post15+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_3^0-__disjvr_3^post15 == 0 /\ a_215^0-a_215^post15 == 0 /\ -rcd_58^post15+rcd_58^0 == 0 /\ -head_175^post15+head_175^0 == 0 /\ __disjvr_29^0-__disjvr_29^post15 == 0 /\ -__disjvr_1^post15+__disjvr_1^0 == 0 /\ -r_124^post15+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post15 == 0 /\ i_30^0-i_30^post15 == 0 /\ -__disjvr_16^post15+__disjvr_16^0 == 0 /\ temp0_15^0-temp0_15^post15 == 0 /\ nondet_12^0-nondet_12^post15 == 0 /\ __disjvr_12^0-__disjvr_12^post15 == 0 /\ __disjvr_19^0-__disjvr_19^post15 == 0 /\ __disjvr_2^0-__disjvr_2^post15 == 0 /\ -t_23^post15+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post15 == 0 /\ -i_94^post15+i_94^0 == 0 /\ -x_16^post15+x_16^0 == 0 /\ __disjvr_20^0-__disjvr_20^post15 == 0 /\ -head_14^post15+head_14^0 == 0 /\ -head_SLAM_f_26^post15+head_SLAM_f_26^0 == 0 /\ a_260^0-a_260^post15 == 0 /\ __disjvr_24^0-__disjvr_24^post15 == 0 /\ -__disjvr_27^post15+__disjvr_27^0 == 0 /\ -length_29^post15+length_29^0 == 0 /\ __disjvr_25^0-__disjvr_25^post15 == 0 /\ a_116^0-a_116^post15 == 0 /\ __disjvr_10^0-__disjvr_10^post15 == 0 /\ result_11^0-result_11^post15 == 0 /\ -__disjvr_6^post15+__disjvr_6^0 == 0 /\ -__disjvr_9^post15+__disjvr_9^0 == 0 /\ __disjvr_23^0-__disjvr_23^post15 == 0 /\ tmp_34^0-tmp_34^post15 == 0 /\ -a_184^post15+a_184^0 == 0 /\ -i_108^post15+i_108^0 == 0 /\ -__disjvr_18^post15+__disjvr_18^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post15+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_27^post15+head_27^0 == 0 /\ -__disjvr_8^post15+__disjvr_8^0 == 0 /\ r_39^0-r_39^post15 == 0 /\ __disjvr_7^0-__disjvr_7^post15 == 0 /\ -i_167^post15+i_167^0 == 0 /\ y_19^0-y_19^post15 == 0 /\ -f_170^post15+f_170^0 == 0 /\ -__disjvr_15^post15+__disjvr_15^0 == 0 /\ temp_35^0-temp_35^post15 == 0 /\ __disjvr_26^0-__disjvr_26^post15 == 0 /\ __disjvr_5^0-__disjvr_5^post15 == 0 /\ __disjvr_0^0-__disjvr_0^post15 == 0 /\ -__disjvr_17^post15+__disjvr_17^0 == 0 /\ r_163^0-r_163^post15 == 0 /\ -a_147^post15+a_147^0 == 0 /\ __disjvr_6^post15-__disjvr_6^0 == 0 /\ -len_132^post15+len_132^0 == 0 /\ -rcd_88^post15+rcd_88^0 == 0 /\ head_129^0-head_129^post15 == 0 /\ -ct_17^post15+ct_17^0 == 0 /\ __disjvr_4^0-__disjvr_4^post15 == 0 /\ -__disjvr_28^post15+__disjvr_28^0 == 0 /\ __disjvr_30^0-__disjvr_30^post15 == 0 /\ -a_237^post15+a_237^0 == 0 /\ __disjvr_21^0-__disjvr_21^post15 == 0 /\ -__disjvr_13^post15+__disjvr_13^0 == 0 /\ head_32^0-head_32^post15 == 0 /\ -temp0_31^post15+temp0_31^0 == 0 /\ x_20^0-x_20^post15 == 0 /\ -__disjvr_22^post15+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post15 == 0 /\ len_183^0-len_183^post15 == 0), cost: 1
  16: l15 -> l16 : __disjvr_0^0'=__disjvr_0^post16, a_215^0'=a_215^post16, x_SLAM_f_18^0'=x_SLAM_f_18^post16, __disjvr_21^0'=__disjvr_21^post16, __disjvr_3^0'=__disjvr_3^post16, result_11^0'=result_11^post16, __disjvr_14^0'=__disjvr_14^post16, head_129^0'=head_129^post16, __disjvr_24^0'=__disjvr_24^post16, len_183^0'=len_183^post16, __disjvr_8^0'=__disjvr_8^post16, a_116^0'=a_116^post16, tmp_34^0'=tmp_34^post16, __disjvr_19^0'=__disjvr_19^post16, head_SLAM_f_26^0'=head_SLAM_f_26^post16, __disjvr_29^0'=__disjvr_29^post16, r_39^0'=r_39^post16, __disjvr_11^0'=__disjvr_11^post16, a_260^0'=a_260^post16, i_30^0'=i_30^post16, __disjvr_5^0'=__disjvr_5^post16, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post16, __disjvr_16^0'=__disjvr_16^post16, head_175^0'=head_175^post16, __disjvr_26^0'=__disjvr_26^post16, nondet_12^0'=nondet_12^post16, a_184^0'=a_184^post16, x_20^0'=x_20^post16, __disjvr_20^0'=__disjvr_20^post16, i_167^0'=i_167^post16, __disjvr_30^0'=__disjvr_30^post16, rcd_88^0'=rcd_88^post16, __disjvr_13^0'=__disjvr_13^post16, f_170^0'=f_170^post16, __disjvr_23^0'=__disjvr_23^post16, len_132^0'=len_132^post16, __disjvr_7^0'=__disjvr_7^post16, temp0_15^0'=temp0_15^post16, temp_35^0'=temp_35^post16, __disjvr_18^0'=__disjvr_18^post16, head_32^0'=head_32^post16, __disjvr_28^0'=__disjvr_28^post16, r_163^0'=r_163^post16, __disjvr_10^0'=__disjvr_10^post16, a_237^0'=a_237^post16, y_19^0'=y_19^post16, __disjvr_22^0'=__disjvr_22^post16, __disjvr_4^0'=__disjvr_4^post16, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16, __disjvr_15^0'=__disjvr_15^post16, head_14^0'=head_14^post16, __disjvr_25^0'=__disjvr_25^post16, length_29^0'=length_29^post16, __disjvr_9^0'=__disjvr_9^post16, a_147^0'=a_147^post16, x_16^0'=x_16^post16, __disjvr_1^0'=__disjvr_1^post16, i_108^0'=i_108^post16, __disjvr_2^0'=__disjvr_2^post16, rcd_58^0'=rcd_58^post16, __disjvr_12^0'=__disjvr_12^post16, ct_17^0'=ct_17^post16, i_94^0'=i_94^post16, __disjvr_6^0'=__disjvr_6^post16, t_23^0'=t_23^post16, temp0_31^0'=temp0_31^post16, __disjvr_17^0'=__disjvr_17^post16, head_27^0'=head_27^post16, __disjvr_27^0'=__disjvr_27^post16, r_124^0'=r_124^post16, (head_SLAM_f_26^0-head_SLAM_f_26^post16 == 0 /\ -__disjvr_12^post16+__disjvr_12^0 == 0 /\ -i_108^post16+i_108^0 == 0 /\ -__disjvr_9^post16+__disjvr_9^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post16 == 0 /\ -__disjvr_17^post16+__disjvr_17^0 == 0 /\ head_129^0-head_129^post16 == 0 /\ -head_27^post16+head_27^0 == 0 /\ a_260^0-a_260^post16 == 0 /\ -f_170^post16+f_170^0 == 0 /\ -i_30^post16+i_30^0 == 0 /\ x_16^0-x_16^post16 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post16+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_116^0-a_116^post16 == 0 /\ tmp_34^0-tmp_34^post16 == 0 /\ -a_147^post16+a_147^0 == 0 /\ __disjvr_15^0-__disjvr_15^post16 == 0 /\ -__disjvr_4^post16+__disjvr_4^0 == 0 /\ -__disjvr_2^post16+__disjvr_2^0 == 0 /\ a_215^0-a_215^post16 == 0 /\ __disjvr_28^0-__disjvr_28^post16 == 0 /\ -__disjvr_29^post16+__disjvr_29^0 == 0 /\ -ct_17^post16+ct_17^0 == 0 /\ __disjvr_16^0-__disjvr_16^post16 == 0 /\ -temp0_31^post16+temp0_31^0 == 0 /\ __disjvr_14^0-__disjvr_14^post16 == 0 /\ -x_20^post16+x_20^0 == 0 /\ -__disjvr_22^post16+__disjvr_22^0 == 0 /\ rcd_58^0-rcd_58^post16 == 0 /\ __disjvr_5^0-__disjvr_5^post16 == 0 /\ -r_124^post16+r_124^0 == 0 /\ temp0_15^0-temp0_15^post16 == 0 /\ -__disjvr_11^post16+__disjvr_11^0 == 0 /\ nondet_12^0-nondet_12^post16 == 0 /\ -r_163^post16+r_163^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post16 == 0 /\ len_132^0-len_132^post16 == 0 /\ __disjvr_13^0-__disjvr_13^post16 == 0 /\ -head_32^post16+head_32^0 == 0 /\ -i_94^post16+i_94^0 == 0 /\ __disjvr_24^0-__disjvr_24^post16 == 0 /\ -__disjvr_20^post16+__disjvr_20^0 == 0 /\ a_237^0-a_237^post16 == 0 /\ __disjvr_21^0-__disjvr_21^post16 == 0 /\ -__disjvr_25^post16+__disjvr_25^0 == 0 /\ rcd_88^0-rcd_88^post16 == 0 /\ -t_23^post16+t_23^0 == 0 /\ __disjvr_19^0-__disjvr_19^post16 == 0 /\ -__disjvr_1^post16+__disjvr_1^0 == 0 /\ __disjvr_7^post16-__disjvr_7^0 == 0 /\ len_183^0-len_183^post16 == 0 /\ -__disjvr_27^post16+__disjvr_27^0 == 0 /\ -__disjvr_10^post16+__disjvr_10^0 == 0 /\ a_184^0-a_184^post16 == 0 /\ result_11^0-result_11^post16 == 0 /\ -temp_35^post16+temp_35^0 == 0 /\ -__disjvr_26^post16+__disjvr_26^0 == 0 /\ head_175^0-head_175^post16 == 0 /\ -__disjvr_23^post16+__disjvr_23^0 == 0 /\ __disjvr_0^0-__disjvr_0^post16 == 0 /\ r_39^0-r_39^post16 == 0 /\ -head_14^post16+head_14^0 == 0 /\ __disjvr_30^0-__disjvr_30^post16 == 0 /\ -y_19^post16+y_19^0 == 0 /\ __disjvr_3^0-__disjvr_3^post16 == 0 /\ i_167^0-i_167^post16 == 0 /\ __disjvr_8^0-__disjvr_8^post16 == 0 /\ __disjvr_18^0-__disjvr_18^post16 == 0 /\ -__disjvr_7^post16+__disjvr_7^0 == 0 /\ -__disjvr_6^post16+__disjvr_6^0 == 0 /\ -length_29^post16+length_29^0 == 0), cost: 1
  17: l16 -> l17 : __disjvr_0^0'=__disjvr_0^post17, a_215^0'=a_215^post17, x_SLAM_f_18^0'=x_SLAM_f_18^post17, __disjvr_21^0'=__disjvr_21^post17, __disjvr_3^0'=__disjvr_3^post17, result_11^0'=result_11^post17, __disjvr_14^0'=__disjvr_14^post17, head_129^0'=head_129^post17, __disjvr_24^0'=__disjvr_24^post17, len_183^0'=len_183^post17, __disjvr_8^0'=__disjvr_8^post17, a_116^0'=a_116^post17, tmp_34^0'=tmp_34^post17, __disjvr_19^0'=__disjvr_19^post17, head_SLAM_f_26^0'=head_SLAM_f_26^post17, __disjvr_29^0'=__disjvr_29^post17, r_39^0'=r_39^post17, __disjvr_11^0'=__disjvr_11^post17, a_260^0'=a_260^post17, i_30^0'=i_30^post17, __disjvr_5^0'=__disjvr_5^post17, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post17, __disjvr_16^0'=__disjvr_16^post17, head_175^0'=head_175^post17, __disjvr_26^0'=__disjvr_26^post17, nondet_12^0'=nondet_12^post17, a_184^0'=a_184^post17, x_20^0'=x_20^post17, __disjvr_20^0'=__disjvr_20^post17, i_167^0'=i_167^post17, __disjvr_30^0'=__disjvr_30^post17, rcd_88^0'=rcd_88^post17, __disjvr_13^0'=__disjvr_13^post17, f_170^0'=f_170^post17, __disjvr_23^0'=__disjvr_23^post17, len_132^0'=len_132^post17, __disjvr_7^0'=__disjvr_7^post17, temp0_15^0'=temp0_15^post17, temp_35^0'=temp_35^post17, __disjvr_18^0'=__disjvr_18^post17, head_32^0'=head_32^post17, __disjvr_28^0'=__disjvr_28^post17, r_163^0'=r_163^post17, __disjvr_10^0'=__disjvr_10^post17, a_237^0'=a_237^post17, y_19^0'=y_19^post17, __disjvr_22^0'=__disjvr_22^post17, __disjvr_4^0'=__disjvr_4^post17, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17, __disjvr_15^0'=__disjvr_15^post17, head_14^0'=head_14^post17, __disjvr_25^0'=__disjvr_25^post17, length_29^0'=length_29^post17, __disjvr_9^0'=__disjvr_9^post17, a_147^0'=a_147^post17, x_16^0'=x_16^post17, __disjvr_1^0'=__disjvr_1^post17, i_108^0'=i_108^post17, __disjvr_2^0'=__disjvr_2^post17, rcd_58^0'=rcd_58^post17, __disjvr_12^0'=__disjvr_12^post17, ct_17^0'=ct_17^post17, i_94^0'=i_94^post17, __disjvr_6^0'=__disjvr_6^post17, t_23^0'=t_23^post17, temp0_31^0'=temp0_31^post17, __disjvr_17^0'=__disjvr_17^post17, head_27^0'=head_27^post17, __disjvr_27^0'=__disjvr_27^post17, r_124^0'=r_124^post17, (-__disjvr_8^0+__disjvr_8^post17 == 0 /\ -r_124^post17+r_124^0 == 0 /\ a_147^0-a_147^post17 == 0 /\ __disjvr_16^0-__disjvr_16^post17 == 0 /\ a_215^0-a_215^post17 == 0 /\ -rcd_58^post17+rcd_58^0 == 0 /\ -head_14^post17+head_14^0 == 0 /\ -__disjvr_1^post17+__disjvr_1^0 == 0 /\ temp_35^0-temp_35^post17 == 0 /\ -head_175^post17+head_175^0 == 0 /\ __disjvr_30^0-__disjvr_30^post17 == 0 /\ -a_260^post17+a_260^0 == 0 /\ -__disjvr_5^post17+__disjvr_5^0 == 0 /\ -t_23^post17+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post17 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post17 == 0 /\ -__disjvr_15^post17+__disjvr_15^0 == 0 /\ -__disjvr_10^post17+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post17+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_16^post17+x_16^0 == 0 /\ -i_94^post17+i_94^0 == 0 /\ r_163^0-r_163^post17 == 0 /\ -tmp_34^post17+tmp_34^0 == 0 /\ head_129^0-head_129^post17 == 0 /\ -length_29^post17+length_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post17 == 0 /\ -__disjvr_12^post17+__disjvr_12^0 == 0 /\ -__disjvr_23^post17+__disjvr_23^0 == 0 /\ f_170^0-f_170^post17 == 0 /\ head_32^0-head_32^post17 == 0 /\ -y_19^post17+y_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post17 == 0 /\ -a_184^post17+a_184^0 == 0 /\ len_183^0-len_183^post17 == 0 /\ nondet_12^0-nondet_12^post17 == 0 /\ -__disjvr_6^post17+__disjvr_6^0 == 0 /\ __disjvr_11^0-__disjvr_11^post17 == 0 /\ __disjvr_19^0-__disjvr_19^post17 == 0 /\ -__disjvr_27^post17+__disjvr_27^0 == 0 /\ -i_108^post17+i_108^0 == 0 /\ __disjvr_28^0-__disjvr_28^post17 == 0 /\ -__disjvr_9^post17+__disjvr_9^0 == 0 /\ x_20^0-x_20^post17 == 0 /\ -temp0_15^post17+temp0_15^0 == 0 /\ -__disjvr_18^post17+__disjvr_18^0 == 0 /\ __disjvr_0^0-__disjvr_0^post17 == 0 /\ -ct_17^post17+ct_17^0 == 0 /\ -head_27^post17+head_27^0 == 0 /\ -__disjvr_17^post17+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post17 == 0 /\ __disjvr_14^0-__disjvr_14^post17 == 0 /\ i_167^0-i_167^post17 == 0 /\ -result_11^post17+result_11^0 == 0 /\ __disjvr_22^0-__disjvr_22^post17 == 0 /\ __disjvr_3^0-__disjvr_3^post17 == 0 /\ __disjvr_7^0-__disjvr_7^post17 == 0 /\ -r_39^post17+r_39^0 == 0 /\ i_30^0-i_30^post17 == 0 /\ __disjvr_26^0-__disjvr_26^post17 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post17 == 0 /\ -rcd_88^post17+rcd_88^0 == 0 /\ -len_132^post17+len_132^0 == 0 /\ -__disjvr_13^post17+__disjvr_13^0 == 0 /\ __disjvr_24^0-__disjvr_24^post17 == 0 /\ -temp0_31^post17+temp0_31^0 == 0 /\ __disjvr_20^0-__disjvr_20^post17 == 0 /\ -__disjvr_2^post17+__disjvr_2^0 == 0 /\ a_116^0-a_116^post17 == 0 /\ -a_237^post17+a_237^0 == 0 /\ __disjvr_4^0-__disjvr_4^post17 == 0 /\ __disjvr_25^0-__disjvr_25^post17 == 0), cost: 1
  18: l17 -> l0 : __disjvr_0^0'=__disjvr_0^post18, a_215^0'=a_215^post18, x_SLAM_f_18^0'=x_SLAM_f_18^post18, __disjvr_21^0'=__disjvr_21^post18, __disjvr_3^0'=__disjvr_3^post18, result_11^0'=result_11^post18, __disjvr_14^0'=__disjvr_14^post18, head_129^0'=head_129^post18, __disjvr_24^0'=__disjvr_24^post18, len_183^0'=len_183^post18, __disjvr_8^0'=__disjvr_8^post18, a_116^0'=a_116^post18, tmp_34^0'=tmp_34^post18, __disjvr_19^0'=__disjvr_19^post18, head_SLAM_f_26^0'=head_SLAM_f_26^post18, __disjvr_29^0'=__disjvr_29^post18, r_39^0'=r_39^post18, __disjvr_11^0'=__disjvr_11^post18, a_260^0'=a_260^post18, i_30^0'=i_30^post18, __disjvr_5^0'=__disjvr_5^post18, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post18, __disjvr_16^0'=__disjvr_16^post18, head_175^0'=head_175^post18, __disjvr_26^0'=__disjvr_26^post18, nondet_12^0'=nondet_12^post18, a_184^0'=a_184^post18, x_20^0'=x_20^post18, __disjvr_20^0'=__disjvr_20^post18, i_167^0'=i_167^post18, __disjvr_30^0'=__disjvr_30^post18, rcd_88^0'=rcd_88^post18, __disjvr_13^0'=__disjvr_13^post18, f_170^0'=f_170^post18, __disjvr_23^0'=__disjvr_23^post18, len_132^0'=len_132^post18, __disjvr_7^0'=__disjvr_7^post18, temp0_15^0'=temp0_15^post18, temp_35^0'=temp_35^post18, __disjvr_18^0'=__disjvr_18^post18, head_32^0'=head_32^post18, __disjvr_28^0'=__disjvr_28^post18, r_163^0'=r_163^post18, __disjvr_10^0'=__disjvr_10^post18, a_237^0'=a_237^post18, y_19^0'=y_19^post18, __disjvr_22^0'=__disjvr_22^post18, __disjvr_4^0'=__disjvr_4^post18, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18, __disjvr_15^0'=__disjvr_15^post18, head_14^0'=head_14^post18, __disjvr_25^0'=__disjvr_25^post18, length_29^0'=length_29^post18, __disjvr_9^0'=__disjvr_9^post18, a_147^0'=a_147^post18, x_16^0'=x_16^post18, __disjvr_1^0'=__disjvr_1^post18, i_108^0'=i_108^post18, __disjvr_2^0'=__disjvr_2^post18, rcd_58^0'=rcd_58^post18, __disjvr_12^0'=__disjvr_12^post18, ct_17^0'=ct_17^post18, i_94^0'=i_94^post18, __disjvr_6^0'=__disjvr_6^post18, t_23^0'=t_23^post18, temp0_31^0'=temp0_31^post18, __disjvr_17^0'=__disjvr_17^post18, head_27^0'=head_27^post18, __disjvr_27^0'=__disjvr_27^post18, r_124^0'=r_124^post18, (-__disjvr_6^post18+__disjvr_6^0 == 0 /\ __disjvr_14^0-__disjvr_14^post18 == 0 /\ r_39^0-r_39^post18 == 0 /\ __disjvr_8^0-__disjvr_8^post18 == 0 /\ -i_30^post18+i_30^0 == 0 /\ -__disjvr_9^post18+__disjvr_9^0 == 0 /\ -__disjvr_13^post18+__disjvr_13^0 == 0 /\ -__disjvr_12^post18+__disjvr_12^0 == 0 /\ len_132^0-len_132^post18 == 0 /\ -__disjvr_18^post18+__disjvr_18^0 == 0 /\ -i_108^post18+i_108^0 == 0 /\ __disjvr_10^0-__disjvr_10^post18 == 0 /\ -i_167^post18+i_167^0 == 0 /\ -__disjvr_17^post18+__disjvr_17^0 == 0 /\ __disjvr_24^0-__disjvr_24^post18 == 0 /\ -head_27^post18+head_27^0 == 0 /\ -__disjvr_15^post18+__disjvr_15^0 == 0 /\ -ct_17^post18+ct_17^0 == 0 /\ a_260^0-a_260^post18 == 0 /\ len_183^0-len_183^post18 == 0 /\ head_32^0-head_32^post18 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post18 == 0 /\ __disjvr_19^0-__disjvr_19^post18 == 0 /\ -__disjvr_26^post18+__disjvr_26^0 == 0 /\ -__disjvr_4^post18+__disjvr_4^0 == 0 /\ x_20^0-x_20^post18 == 0 /\ -__disjvr_2^post18+__disjvr_2^0 == 0 /\ -a_237^post18+a_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post18 == 0 /\ __disjvr_16^0-__disjvr_16^post18 == 0 /\ a_147^0-a_147^post18 == 0 /\ -temp0_31^post18+temp0_31^0 == 0 /\ head_175^0-head_175^post18 == 0 /\ -__disjvr_28^post18+__disjvr_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post18 == 0 /\ __disjvr_0^0-__disjvr_0^post18 == 0 /\ -__disjvr_22^post18+__disjvr_22^0 == 0 /\ __disjvr_5^0-__disjvr_5^post18 == 0 /\ -rcd_58^post18+rcd_58^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post18 == 0 /\ temp0_15^0-temp0_15^post18 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post18 == 0 /\ rcd_88^0-rcd_88^post18 == 0 /\ head_129^0-head_129^post18 == 0 /\ i_94^0-i_94^post18 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_11^post18+__disjvr_11^0 == 0 /\ nondet_12^0-nondet_12^post18 == 0 /\ __disjvr_20^0-__disjvr_20^post18 == 0 /\ -__disjvr_1^post18+__disjvr_1^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post18 == 0 /\ __disjvr_21^0-__disjvr_21^post18 == 0 /\ a_116^0-a_116^post18 == 0 /\ __disjvr_25^0-__disjvr_25^post18 == 0 /\ a_184^0-a_184^post18 == 0 /\ -r_163^post18+r_163^0 == 0 /\ -r_124^post18+r_124^0 == 0 /\ tmp_34^0-tmp_34^post18 == 0 /\ -__disjvr_30^post18+__disjvr_30^0 == 0 /\ result_11^0-result_11^post18 == 0 /\ -t_23^post18+t_23^0 == 0 /\ -__disjvr_7^post18+__disjvr_7^0 == 0 /\ a_215^0-a_215^post18 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -f_170^post18+f_170^0 == 0 /\ -x_16^post18+x_16^0 == 0 /\ __disjvr_29^0-__disjvr_29^post18 == 0 /\ -length_29^post18+length_29^0 == 0 /\ temp_35^0-temp_35^post18 == 0 /\ -__disjvr_27^post18+__disjvr_27^0 == 0 /\ -head_14^post18+head_14^0 == 0 /\ y_19^0-y_19^post18 == 0), cost: 1
  19: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_215^0'=a_215^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, __disjvr_21^0'=__disjvr_21^post19, __disjvr_3^0'=__disjvr_3^post19, result_11^0'=result_11^post19, __disjvr_14^0'=__disjvr_14^post19, head_129^0'=head_129^post19, __disjvr_24^0'=__disjvr_24^post19, len_183^0'=len_183^post19, __disjvr_8^0'=__disjvr_8^post19, a_116^0'=a_116^post19, tmp_34^0'=tmp_34^post19, __disjvr_19^0'=__disjvr_19^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, __disjvr_29^0'=__disjvr_29^post19, r_39^0'=r_39^post19, __disjvr_11^0'=__disjvr_11^post19, a_260^0'=a_260^post19, i_30^0'=i_30^post19, __disjvr_5^0'=__disjvr_5^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, __disjvr_16^0'=__disjvr_16^post19, head_175^0'=head_175^post19, __disjvr_26^0'=__disjvr_26^post19, nondet_12^0'=nondet_12^post19, a_184^0'=a_184^post19, x_20^0'=x_20^post19, __disjvr_20^0'=__disjvr_20^post19, i_167^0'=i_167^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_88^0'=rcd_88^post19, __disjvr_13^0'=__disjvr_13^post19, f_170^0'=f_170^post19, __disjvr_23^0'=__disjvr_23^post19, len_132^0'=len_132^post19, __disjvr_7^0'=__disjvr_7^post19, temp0_15^0'=temp0_15^post19, temp_35^0'=temp_35^post19, __disjvr_18^0'=__disjvr_18^post19, head_32^0'=head_32^post19, __disjvr_28^0'=__disjvr_28^post19, r_163^0'=r_163^post19, __disjvr_10^0'=__disjvr_10^post19, a_237^0'=a_237^post19, y_19^0'=y_19^post19, __disjvr_22^0'=__disjvr_22^post19, __disjvr_4^0'=__disjvr_4^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, __disjvr_15^0'=__disjvr_15^post19, head_14^0'=head_14^post19, __disjvr_25^0'=__disjvr_25^post19, length_29^0'=length_29^post19, __disjvr_9^0'=__disjvr_9^post19, a_147^0'=a_147^post19, x_16^0'=x_16^post19, __disjvr_1^0'=__disjvr_1^post19, i_108^0'=i_108^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_58^0'=rcd_58^post19, __disjvr_12^0'=__disjvr_12^post19, ct_17^0'=ct_17^post19, i_94^0'=i_94^post19, __disjvr_6^0'=__disjvr_6^post19, t_23^0'=t_23^post19, temp0_31^0'=temp0_31^post19, __disjvr_17^0'=__disjvr_17^post19, head_27^0'=head_27^post19, __disjvr_27^0'=__disjvr_27^post19, r_124^0'=r_124^post19, (0 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -rcd_58^post19+rcd_58^0 == 0 /\ -r_163^post19+r_163^0 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -head_32^post19+head_32^0 == 0 /\ -a_260^post19+a_260^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ tmp_34^0-tmp_34^post19 == 0 /\ -r_124^post19+r_124^0 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_183^0-len_183^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ -head_27^post19+head_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0 /\ -f_170^post19+f_170^0 == 0 /\ -r_39^post19+r_39^0 == 0 /\ -len_132^0 <= 0 /\ -i_94^post19+i_94^0 == 0 /\ -y_19^post19+y_19^0 == 0 /\ a_184^0-a_184^post19 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ a_116^0-a_116^post19 == 0 /\ -temp0_15^post19+temp0_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ a_215^0-a_215^post19 == 0 /\ __disjvr_15^0-__disjvr_15^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -i_108^post19+i_108^0 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ __disjvr_30^0-__disjvr_30^post19 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ i_30^0-i_30^post19 == 0 /\ i_167^0-i_167^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -a_147^post19+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ len_132^0-len_132^post19 == 0 /\ -x_20^post19+x_20^0 == 0 /\ -a_237^post19+a_237^0 == 0 /\ head_129^0-head_129^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ -temp0_31^post19+temp0_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0), cost: 1
  20: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_215^0'=a_215^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, __disjvr_21^0'=__disjvr_21^post20, __disjvr_3^0'=__disjvr_3^post20, result_11^0'=result_11^post20, __disjvr_14^0'=__disjvr_14^post20, head_129^0'=head_129^post20, __disjvr_24^0'=__disjvr_24^post20, len_183^0'=len_183^post20, __disjvr_8^0'=__disjvr_8^post20, a_116^0'=a_116^post20, tmp_34^0'=tmp_34^post20, __disjvr_19^0'=__disjvr_19^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, __disjvr_29^0'=__disjvr_29^post20, r_39^0'=r_39^post20, __disjvr_11^0'=__disjvr_11^post20, a_260^0'=a_260^post20, i_30^0'=i_30^post20, __disjvr_5^0'=__disjvr_5^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_16^0'=__disjvr_16^post20, head_175^0'=head_175^post20, __disjvr_26^0'=__disjvr_26^post20, nondet_12^0'=nondet_12^post20, a_184^0'=a_184^post20, x_20^0'=x_20^post20, __disjvr_20^0'=__disjvr_20^post20, i_167^0'=i_167^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_88^0'=rcd_88^post20, __disjvr_13^0'=__disjvr_13^post20, f_170^0'=f_170^post20, __disjvr_23^0'=__disjvr_23^post20, len_132^0'=len_132^post20, __disjvr_7^0'=__disjvr_7^post20, temp0_15^0'=temp0_15^post20, temp_35^0'=temp_35^post20, __disjvr_18^0'=__disjvr_18^post20, head_32^0'=head_32^post20, __disjvr_28^0'=__disjvr_28^post20, r_163^0'=r_163^post20, __disjvr_10^0'=__disjvr_10^post20, a_237^0'=a_237^post20, y_19^0'=y_19^post20, __disjvr_22^0'=__disjvr_22^post20, __disjvr_4^0'=__disjvr_4^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, __disjvr_15^0'=__disjvr_15^post20, head_14^0'=head_14^post20, __disjvr_25^0'=__disjvr_25^post20, length_29^0'=length_29^post20, __disjvr_9^0'=__disjvr_9^post20, a_147^0'=a_147^post20, x_16^0'=x_16^post20, __disjvr_1^0'=__disjvr_1^post20, i_108^0'=i_108^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_58^0'=rcd_58^post20, __disjvr_12^0'=__disjvr_12^post20, ct_17^0'=ct_17^post20, i_94^0'=i_94^post20, __disjvr_6^0'=__disjvr_6^post20, t_23^0'=t_23^post20, temp0_31^0'=temp0_31^post20, __disjvr_17^0'=__disjvr_17^post20, head_27^0'=head_27^post20, __disjvr_27^0'=__disjvr_27^post20, r_124^0'=r_124^post20, (x_SLAM_f_18^0-x_SLAM_f_18^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ len_183^0-len_183^post20 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ a_237^0-a_237^post20 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -i_108^post20+i_108^0 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ -len_132^post20+len_132^0 == 0 /\ -a_147^post20+a_147^0 == 0 /\ a_116^0-a_116^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ a_215^0-a_215^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -ct_17^post20+ct_17^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ i_30^0-i_30^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ i_167^0-i_167^post20 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ head_175^0-head_175^post20 == 0 /\ -r_163^post20+r_163^0 == 0 /\ length_29^0-length_29^post20 == 0 /\ r_39^0-r_39^post20 == 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ a_260^0-a_260^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ head_14^0-head_14^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ -rcd_58^post20+rcd_58^0 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ -i_94^post20+i_94^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -r_124^post20+r_124^0 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ head_129^0-head_129^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ -a_184^post20+a_184^0 == 0 /\ -t_23^post20+t_23^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ x_20^0-x_20^post20 == 0 /\ -x_16^post20+x_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_27^post20+head_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -y_19^post20+y_19^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0), cost: 1
  21: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_215^0'=a_215^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, __disjvr_21^0'=__disjvr_21^post21, __disjvr_3^0'=__disjvr_3^post21, result_11^0'=result_11^post21, __disjvr_14^0'=__disjvr_14^post21, head_129^0'=head_129^post21, __disjvr_24^0'=__disjvr_24^post21, len_183^0'=len_183^post21, __disjvr_8^0'=__disjvr_8^post21, a_116^0'=a_116^post21, tmp_34^0'=tmp_34^post21, __disjvr_19^0'=__disjvr_19^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, __disjvr_29^0'=__disjvr_29^post21, r_39^0'=r_39^post21, __disjvr_11^0'=__disjvr_11^post21, a_260^0'=a_260^post21, i_30^0'=i_30^post21, __disjvr_5^0'=__disjvr_5^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_16^0'=__disjvr_16^post21, head_175^0'=head_175^post21, __disjvr_26^0'=__disjvr_26^post21, nondet_12^0'=nondet_12^post21, a_184^0'=a_184^post21, x_20^0'=x_20^post21, __disjvr_20^0'=__disjvr_20^post21, i_167^0'=i_167^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_88^0'=rcd_88^post21, __disjvr_13^0'=__disjvr_13^post21, f_170^0'=f_170^post21, __disjvr_23^0'=__disjvr_23^post21, len_132^0'=len_132^post21, __disjvr_7^0'=__disjvr_7^post21, temp0_15^0'=temp0_15^post21, temp_35^0'=temp_35^post21, __disjvr_18^0'=__disjvr_18^post21, head_32^0'=head_32^post21, __disjvr_28^0'=__disjvr_28^post21, r_163^0'=r_163^post21, __disjvr_10^0'=__disjvr_10^post21, a_237^0'=a_237^post21, y_19^0'=y_19^post21, __disjvr_22^0'=__disjvr_22^post21, __disjvr_4^0'=__disjvr_4^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, __disjvr_15^0'=__disjvr_15^post21, head_14^0'=head_14^post21, __disjvr_25^0'=__disjvr_25^post21, length_29^0'=length_29^post21, __disjvr_9^0'=__disjvr_9^post21, a_147^0'=a_147^post21, x_16^0'=x_16^post21, __disjvr_1^0'=__disjvr_1^post21, i_108^0'=i_108^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_58^0'=rcd_58^post21, __disjvr_12^0'=__disjvr_12^post21, ct_17^0'=ct_17^post21, i_94^0'=i_94^post21, __disjvr_6^0'=__disjvr_6^post21, t_23^0'=t_23^post21, temp0_31^0'=temp0_31^post21, __disjvr_17^0'=__disjvr_17^post21, head_27^0'=head_27^post21, __disjvr_27^0'=__disjvr_27^post21, r_124^0'=r_124^post21, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -y_19^0 <= 0 /\ i_30^0-i_30^post21 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -head_175^post21+head_175^0 == 0 /\ -i_94^post21+i_94^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ a_260^0-a_260^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ rcd_88^0-rcd_88^post21 == 0 /\ -a_116^post21+a_116^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ -head_27^post21+head_27^0 == 0 /\ -x_16^post21+x_16^0 == 0 /\ -length_29^post21+length_29^0 == 0 /\ -head_14^post21+head_14^0 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ x_20^0-x_20^post21 == 0 /\ head_14^0-x_16^0 <= 0 /\ temp_35^0-temp_35^post21 == 0 /\ -a_237^0+a_215^post21 <= 0 /\ y_19^0 <= 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ tmp_34^0-tmp_34^post21 == 0 /\ -x_20^0+t_23^post21 == 0 /\ head_14^0-t_23^post21 <= 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -i_167^post21+i_167^0 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ y_19^0-y_19^post21 == 0 /\ -ct_17^post21+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post21 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ r_39^0-r_39^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ r_163^0-r_163^post21 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -r_124^post21+r_124^0 == 0 /\ -i_108^post21+i_108^0 == 0 /\ -a_147^post21+a_147^0 == 0 /\ len_183^0-len_183^post21 == 0 /\ -len_132^post21+len_132^0 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ -ct_17^0 <= 0 /\ a_237^0-a_215^post21 <= 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -head_14^0+t_23^post21 <= 0 /\ a_184^0-a_184^post21 == 0 /\ head_32^0-head_32^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ head_129^0-head_129^post21 == 0 /\ -a_237^post21+a_237^0 == 0), cost: 1
  22: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_215^0'=a_215^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, __disjvr_21^0'=__disjvr_21^post22, __disjvr_3^0'=__disjvr_3^post22, result_11^0'=result_11^post22, __disjvr_14^0'=__disjvr_14^post22, head_129^0'=head_129^post22, __disjvr_24^0'=__disjvr_24^post22, len_183^0'=len_183^post22, __disjvr_8^0'=__disjvr_8^post22, a_116^0'=a_116^post22, tmp_34^0'=tmp_34^post22, __disjvr_19^0'=__disjvr_19^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, __disjvr_29^0'=__disjvr_29^post22, r_39^0'=r_39^post22, __disjvr_11^0'=__disjvr_11^post22, a_260^0'=a_260^post22, i_30^0'=i_30^post22, __disjvr_5^0'=__disjvr_5^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_16^0'=__disjvr_16^post22, head_175^0'=head_175^post22, __disjvr_26^0'=__disjvr_26^post22, nondet_12^0'=nondet_12^post22, a_184^0'=a_184^post22, x_20^0'=x_20^post22, __disjvr_20^0'=__disjvr_20^post22, i_167^0'=i_167^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_88^0'=rcd_88^post22, __disjvr_13^0'=__disjvr_13^post22, f_170^0'=f_170^post22, __disjvr_23^0'=__disjvr_23^post22, len_132^0'=len_132^post22, __disjvr_7^0'=__disjvr_7^post22, temp0_15^0'=temp0_15^post22, temp_35^0'=temp_35^post22, __disjvr_18^0'=__disjvr_18^post22, head_32^0'=head_32^post22, __disjvr_28^0'=__disjvr_28^post22, r_163^0'=r_163^post22, __disjvr_10^0'=__disjvr_10^post22, a_237^0'=a_237^post22, y_19^0'=y_19^post22, __disjvr_22^0'=__disjvr_22^post22, __disjvr_4^0'=__disjvr_4^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, __disjvr_15^0'=__disjvr_15^post22, head_14^0'=head_14^post22, __disjvr_25^0'=__disjvr_25^post22, length_29^0'=length_29^post22, __disjvr_9^0'=__disjvr_9^post22, a_147^0'=a_147^post22, x_16^0'=x_16^post22, __disjvr_1^0'=__disjvr_1^post22, i_108^0'=i_108^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_58^0'=rcd_58^post22, __disjvr_12^0'=__disjvr_12^post22, ct_17^0'=ct_17^post22, i_94^0'=i_94^post22, __disjvr_6^0'=__disjvr_6^post22, t_23^0'=t_23^post22, temp0_31^0'=temp0_31^post22, __disjvr_17^0'=__disjvr_17^post22, head_27^0'=head_27^post22, __disjvr_27^0'=__disjvr_27^post22, r_124^0'=r_124^post22, (-__disjvr_12^post22+__disjvr_12^0 == 0 /\ a_260^0-a_260^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ -rcd_88^post22+rcd_88^0 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ -f_170^post22+f_170^0 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ x_16^0-x_16^post22 == 0 /\ a_215^0-a_215^post22 == 0 /\ a_184^0-a_184^post22 == 0 /\ -__disjvr_26^post22+__disjvr_26^0 == 0 /\ head_129^0-head_129^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ -r_124^post22+r_124^0 == 0 /\ -i_108^post22+i_108^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -a_147^post22+a_147^0 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ -x_20^post22+x_20^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -temp0_15^post22+temp0_15^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -i_94^post22+i_94^0 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ __disjvr_22^0-__disjvr_22^post22 == 0 /\ -head_14^post22+head_14^0 == 0 /\ len_183^0-len_183^post22 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ len_132^0-len_132^post22 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ a_237^0-a_237^post22 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ -head_32^post22+head_32^0 == 0 /\ __disjvr_10^post22-__disjvr_10^0 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -r_163^post22+r_163^0 == 0 /\ -t_23^post22+t_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ -r_39^post22+r_39^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ a_116^0-a_116^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ head_175^0-head_175^post22 == 0 /\ -length_29^post22+length_29^0 == 0 /\ -head_27^post22+head_27^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ __disjvr_30^0-__disjvr_30^post22 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ -y_19^post22+y_19^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0), cost: 1
  23: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post23, a_215^0'=a_215^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, __disjvr_21^0'=__disjvr_21^post23, __disjvr_3^0'=__disjvr_3^post23, result_11^0'=result_11^post23, __disjvr_14^0'=__disjvr_14^post23, head_129^0'=head_129^post23, __disjvr_24^0'=__disjvr_24^post23, len_183^0'=len_183^post23, __disjvr_8^0'=__disjvr_8^post23, a_116^0'=a_116^post23, tmp_34^0'=tmp_34^post23, __disjvr_19^0'=__disjvr_19^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, __disjvr_29^0'=__disjvr_29^post23, r_39^0'=r_39^post23, __disjvr_11^0'=__disjvr_11^post23, a_260^0'=a_260^post23, i_30^0'=i_30^post23, __disjvr_5^0'=__disjvr_5^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_16^0'=__disjvr_16^post23, head_175^0'=head_175^post23, __disjvr_26^0'=__disjvr_26^post23, nondet_12^0'=nondet_12^post23, a_184^0'=a_184^post23, x_20^0'=x_20^post23, __disjvr_20^0'=__disjvr_20^post23, i_167^0'=i_167^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_88^0'=rcd_88^post23, __disjvr_13^0'=__disjvr_13^post23, f_170^0'=f_170^post23, __disjvr_23^0'=__disjvr_23^post23, len_132^0'=len_132^post23, __disjvr_7^0'=__disjvr_7^post23, temp0_15^0'=temp0_15^post23, temp_35^0'=temp_35^post23, __disjvr_18^0'=__disjvr_18^post23, head_32^0'=head_32^post23, __disjvr_28^0'=__disjvr_28^post23, r_163^0'=r_163^post23, __disjvr_10^0'=__disjvr_10^post23, a_237^0'=a_237^post23, y_19^0'=y_19^post23, __disjvr_22^0'=__disjvr_22^post23, __disjvr_4^0'=__disjvr_4^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, __disjvr_15^0'=__disjvr_15^post23, head_14^0'=head_14^post23, __disjvr_25^0'=__disjvr_25^post23, length_29^0'=length_29^post23, __disjvr_9^0'=__disjvr_9^post23, a_147^0'=a_147^post23, x_16^0'=x_16^post23, __disjvr_1^0'=__disjvr_1^post23, i_108^0'=i_108^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_58^0'=rcd_58^post23, __disjvr_12^0'=__disjvr_12^post23, ct_17^0'=ct_17^post23, i_94^0'=i_94^post23, __disjvr_6^0'=__disjvr_6^post23, t_23^0'=t_23^post23, temp0_31^0'=temp0_31^post23, __disjvr_17^0'=__disjvr_17^post23, head_27^0'=head_27^post23, __disjvr_27^0'=__disjvr_27^post23, r_124^0'=r_124^post23, (__disjvr_24^0-__disjvr_24^post23 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ a_147^0-a_147^post23 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -i_94^post23+i_94^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ __disjvr_30^0-__disjvr_30^post23 == 0 /\ -t_23^post23+t_23^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ i_30^0-i_30^post23 == 0 /\ temp_35^0-temp_35^post23 == 0 /\ -head_175^post23+head_175^0 == 0 /\ -head_14^post23+head_14^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -a_184^post23+a_184^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_58^post23+rcd_58^0 == 0 /\ i_108^0-i_108^post23 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ r_163^0-r_163^post23 == 0 /\ r_39^0-r_39^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -head_27^post23+head_27^0 == 0 /\ -__disjvr_15^post23+__disjvr_15^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ a_260^0-a_260^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -y_19^post23+y_19^0 == 0 /\ head_129^0-head_129^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ x_20^0-x_20^post23 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ a_116^0-a_116^post23 == 0 /\ -__disjvr_13^post23+__disjvr_13^0 == 0 /\ -temp0_15^post23+temp0_15^0 == 0 /\ f_170^0-f_170^post23 == 0 /\ -len_183^post23+len_183^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ -x_16^post23+x_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post23 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post23 == 0 /\ -__disjvr_18^post23+__disjvr_18^0 == 0 /\ i_167^0-i_167^post23 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ -a_237^post23+a_237^0 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ head_32^0-head_32^post23 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -ct_17^post23+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ a_215^0-a_215^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ -r_124^post23+r_124^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_215^0'=a_215^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, __disjvr_21^0'=__disjvr_21^post24, __disjvr_3^0'=__disjvr_3^post24, result_11^0'=result_11^post24, __disjvr_14^0'=__disjvr_14^post24, head_129^0'=head_129^post24, __disjvr_24^0'=__disjvr_24^post24, len_183^0'=len_183^post24, __disjvr_8^0'=__disjvr_8^post24, a_116^0'=a_116^post24, tmp_34^0'=tmp_34^post24, __disjvr_19^0'=__disjvr_19^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, __disjvr_29^0'=__disjvr_29^post24, r_39^0'=r_39^post24, __disjvr_11^0'=__disjvr_11^post24, a_260^0'=a_260^post24, i_30^0'=i_30^post24, __disjvr_5^0'=__disjvr_5^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_16^0'=__disjvr_16^post24, head_175^0'=head_175^post24, __disjvr_26^0'=__disjvr_26^post24, nondet_12^0'=nondet_12^post24, a_184^0'=a_184^post24, x_20^0'=x_20^post24, __disjvr_20^0'=__disjvr_20^post24, i_167^0'=i_167^post24, __disjvr_30^0'=__disjvr_30^post24, rcd_88^0'=rcd_88^post24, __disjvr_13^0'=__disjvr_13^post24, f_170^0'=f_170^post24, __disjvr_23^0'=__disjvr_23^post24, len_132^0'=len_132^post24, __disjvr_7^0'=__disjvr_7^post24, temp0_15^0'=temp0_15^post24, temp_35^0'=temp_35^post24, __disjvr_18^0'=__disjvr_18^post24, head_32^0'=head_32^post24, __disjvr_28^0'=__disjvr_28^post24, r_163^0'=r_163^post24, __disjvr_10^0'=__disjvr_10^post24, a_237^0'=a_237^post24, y_19^0'=y_19^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_4^0'=__disjvr_4^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, __disjvr_15^0'=__disjvr_15^post24, head_14^0'=head_14^post24, __disjvr_25^0'=__disjvr_25^post24, length_29^0'=length_29^post24, __disjvr_9^0'=__disjvr_9^post24, a_147^0'=a_147^post24, x_16^0'=x_16^post24, __disjvr_1^0'=__disjvr_1^post24, i_108^0'=i_108^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_58^0'=rcd_58^post24, __disjvr_12^0'=__disjvr_12^post24, ct_17^0'=ct_17^post24, i_94^0'=i_94^post24, __disjvr_6^0'=__disjvr_6^post24, t_23^0'=t_23^post24, temp0_31^0'=temp0_31^post24, __disjvr_17^0'=__disjvr_17^post24, head_27^0'=head_27^post24, __disjvr_27^0'=__disjvr_27^post24, r_124^0'=r_124^post24, (r_39^0-r_39^post24 == 0 /\ a_260^0-a_260^post24 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ -__disjvr_29^post24+__disjvr_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ __disjvr_12^post24-__disjvr_12^0 == 0 /\ -i_30^post24+i_30^0 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ ct_17^0-ct_17^post24 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -x_16^post24+x_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ -a_237^post24+a_237^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ x_20^0-x_20^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -i_108^post24+i_108^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ -__disjvr_9^post24+__disjvr_9^0 == 0 /\ head_175^0-head_175^post24 == 0 /\ -t_23^post24+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post24 == 0 /\ -r_124^post24+r_124^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ -i_94^post24+i_94^0 == 0 /\ -head_14^post24+head_14^0 == 0 /\ a_184^0-a_184^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -r_163^post24+r_163^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -length_29^post24+length_29^0 == 0 /\ a_215^0-a_215^post24 == 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ -a_147^post24+a_147^0 == 0 /\ head_129^0-head_129^post24 == 0 /\ a_116^0-a_116^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ -head_27^post24+head_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ y_19^0-y_19^post24 == 0 /\ -f_170^post24+f_170^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -i_167^post24+i_167^0 == 0), cost: 1
  25: l24 -> l0 : __disjvr_0^0'=__disjvr_0^post25, a_215^0'=a_215^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, __disjvr_21^0'=__disjvr_21^post25, __disjvr_3^0'=__disjvr_3^post25, result_11^0'=result_11^post25, __disjvr_14^0'=__disjvr_14^post25, head_129^0'=head_129^post25, __disjvr_24^0'=__disjvr_24^post25, len_183^0'=len_183^post25, __disjvr_8^0'=__disjvr_8^post25, a_116^0'=a_116^post25, tmp_34^0'=tmp_34^post25, __disjvr_19^0'=__disjvr_19^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, __disjvr_29^0'=__disjvr_29^post25, r_39^0'=r_39^post25, __disjvr_11^0'=__disjvr_11^post25, a_260^0'=a_260^post25, i_30^0'=i_30^post25, __disjvr_5^0'=__disjvr_5^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_16^0'=__disjvr_16^post25, head_175^0'=head_175^post25, __disjvr_26^0'=__disjvr_26^post25, nondet_12^0'=nondet_12^post25, a_184^0'=a_184^post25, x_20^0'=x_20^post25, __disjvr_20^0'=__disjvr_20^post25, i_167^0'=i_167^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_88^0'=rcd_88^post25, __disjvr_13^0'=__disjvr_13^post25, f_170^0'=f_170^post25, __disjvr_23^0'=__disjvr_23^post25, len_132^0'=len_132^post25, __disjvr_7^0'=__disjvr_7^post25, temp0_15^0'=temp0_15^post25, temp_35^0'=temp_35^post25, __disjvr_18^0'=__disjvr_18^post25, head_32^0'=head_32^post25, __disjvr_28^0'=__disjvr_28^post25, r_163^0'=r_163^post25, __disjvr_10^0'=__disjvr_10^post25, a_237^0'=a_237^post25, y_19^0'=y_19^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_4^0'=__disjvr_4^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, __disjvr_15^0'=__disjvr_15^post25, head_14^0'=head_14^post25, __disjvr_25^0'=__disjvr_25^post25, length_29^0'=length_29^post25, __disjvr_9^0'=__disjvr_9^post25, a_147^0'=a_147^post25, x_16^0'=x_16^post25, __disjvr_1^0'=__disjvr_1^post25, i_108^0'=i_108^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_58^0'=rcd_58^post25, __disjvr_12^0'=__disjvr_12^post25, ct_17^0'=ct_17^post25, i_94^0'=i_94^post25, __disjvr_6^0'=__disjvr_6^post25, t_23^0'=t_23^post25, temp0_31^0'=temp0_31^post25, __disjvr_17^0'=__disjvr_17^post25, head_27^0'=head_27^post25, __disjvr_27^0'=__disjvr_27^post25, r_124^0'=r_124^post25, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ -ct_17^post25+ct_17^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ a_116^0-a_116^post25 == 0 /\ -a_147^post25+a_147^0 == 0 /\ x_16^0-x_16^post25 == 0 /\ i_30^0-i_30^post25 == 0 /\ 1+a_215^0-len_132^post25 <= 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -y_19^post25+y_19^0 == 0 /\ __disjvr_23^0-__disjvr_23^post25 == 0 /\ a_260^0-a_260^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ rcd_88^0-rcd_88^post25 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -head_27^post25+head_27^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -f_170^post25+f_170^0 == 0 /\ -r_163^post25+r_163^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ -__disjvr_30^post25+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ head_175^0-head_175^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ x_20^0-x_20^post25 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -1-a_215^0+len_132^post25 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ -__disjvr_29^post25+__disjvr_29^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ a_237^0-a_237^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_183^0-len_183^post25 == 0 /\ -head_14^post25+head_14^0 == 0 /\ i_167^0-i_167^post25 == 0 /\ r_39^0-r_39^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -i_108^post25+i_108^0 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ a_215^0-a_215^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ a_184^0-a_184^post25 == 0 /\ length_29^0-length_29^post25 == 0 /\ -i_94^post25+i_94^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ head_129^0-head_129^post25 == 0 /\ -t_23^post25+t_23^0 == 0), cost: 1
  26: l25 -> l26 : __disjvr_0^0'=__disjvr_0^post26, a_215^0'=a_215^post26, x_SLAM_f_18^0'=x_SLAM_f_18^post26, __disjvr_21^0'=__disjvr_21^post26, __disjvr_3^0'=__disjvr_3^post26, result_11^0'=result_11^post26, __disjvr_14^0'=__disjvr_14^post26, head_129^0'=head_129^post26, __disjvr_24^0'=__disjvr_24^post26, len_183^0'=len_183^post26, __disjvr_8^0'=__disjvr_8^post26, a_116^0'=a_116^post26, tmp_34^0'=tmp_34^post26, __disjvr_19^0'=__disjvr_19^post26, head_SLAM_f_26^0'=head_SLAM_f_26^post26, __disjvr_29^0'=__disjvr_29^post26, r_39^0'=r_39^post26, __disjvr_11^0'=__disjvr_11^post26, a_260^0'=a_260^post26, i_30^0'=i_30^post26, __disjvr_5^0'=__disjvr_5^post26, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post26, __disjvr_16^0'=__disjvr_16^post26, head_175^0'=head_175^post26, __disjvr_26^0'=__disjvr_26^post26, nondet_12^0'=nondet_12^post26, a_184^0'=a_184^post26, x_20^0'=x_20^post26, __disjvr_20^0'=__disjvr_20^post26, i_167^0'=i_167^post26, __disjvr_30^0'=__disjvr_30^post26, rcd_88^0'=rcd_88^post26, __disjvr_13^0'=__disjvr_13^post26, f_170^0'=f_170^post26, __disjvr_23^0'=__disjvr_23^post26, len_132^0'=len_132^post26, __disjvr_7^0'=__disjvr_7^post26, temp0_15^0'=temp0_15^post26, temp_35^0'=temp_35^post26, __disjvr_18^0'=__disjvr_18^post26, head_32^0'=head_32^post26, __disjvr_28^0'=__disjvr_28^post26, r_163^0'=r_163^post26, __disjvr_10^0'=__disjvr_10^post26, a_237^0'=a_237^post26, y_19^0'=y_19^post26, __disjvr_22^0'=__disjvr_22^post26, __disjvr_4^0'=__disjvr_4^post26, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post26, __disjvr_15^0'=__disjvr_15^post26, head_14^0'=head_14^post26, __disjvr_25^0'=__disjvr_25^post26, length_29^0'=length_29^post26, __disjvr_9^0'=__disjvr_9^post26, a_147^0'=a_147^post26, x_16^0'=x_16^post26, __disjvr_1^0'=__disjvr_1^post26, i_108^0'=i_108^post26, __disjvr_2^0'=__disjvr_2^post26, rcd_58^0'=rcd_58^post26, __disjvr_12^0'=__disjvr_12^post26, ct_17^0'=ct_17^post26, i_94^0'=i_94^post26, __disjvr_6^0'=__disjvr_6^post26, t_23^0'=t_23^post26, temp0_31^0'=temp0_31^post26, __disjvr_17^0'=__disjvr_17^post26, head_27^0'=head_27^post26, __disjvr_27^0'=__disjvr_27^post26, r_124^0'=r_124^post26, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post26 == 0 /\ -__disjvr_2^post26+__disjvr_2^0 == 0 /\ -__disjvr_17^post26+__disjvr_17^0 == 0 /\ y_19^0-y_19^post26 == 0 /\ len_183^0-len_183^post26 == 0 /\ -head_27^post26+head_14^10 <= 0 /\ __disjvr_28^0-__disjvr_28^post26 == 0 /\ __disjvr_10^0-__disjvr_10^post26 == 0 /\ -ct_17^post26+ct_17^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^10 <= 0 /\ -__disjvr_6^post26+__disjvr_6^0 == 0 /\ __disjvr_9^0-__disjvr_9^post26 == 0 /\ -__disjvr_23^post26+__disjvr_23^0 == 0 /\ -i_108^post26+i_108^0 == 0 /\ -head_14^10+head_SLAM_f_26^10 <= 0 /\ -head_14^10+head_SLAM_f_26^10 == 0 /\ -a_147^post26+a_147^0 == 0 /\ -__disjvr_16^post26+__disjvr_16^0 == 0 /\ -rcd_88^post26+rcd_88^0 == 0 /\ __disjvr_11^0-__disjvr_11^post26 == 0 /\ head_27^post26-head_14^10 <= 0 /\ -f_170^post26+f_170^0 == 0 /\ -result_11^10+head_14^10 == 0 /\ a_116^0-a_116^post26 == 0 /\ -i_167^post26+i_167^0 == 0 /\ __disjvr_24^0-__disjvr_24^post26 == 0 /\ a_184^0-a_184^post26 == 0 /\ __disjvr_13^0-__disjvr_13^post26 == 0 /\ -rcd_58^post26+rcd_58^0 == 0 /\ __disjvr_3^0-__disjvr_3^post26 == 0 /\ -r_163^post26+r_163^0 == 0 /\ a_260^0-a_260^post26 == 0 /\ head_14^10-head_SLAM_f_26^10 <= 0 /\ __disjvr_0^0-__disjvr_0^post26 == 0 /\ -head_32^0+temp0_31^10 == 0 /\ -__disjvr_15^post26+__disjvr_15^0 == 0 /\ -a_237^post26+a_237^0 == 0 /\ -__disjvr_1^post26+__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post26 == 0 /\ head_175^0-head_175^post26 == 0 /\ __disjvr_8^0-__disjvr_8^post26 == 0 /\ __disjvr_5^0-__disjvr_5^post26 == 0 /\ __disjvr_25^0-__disjvr_25^post26 == 0 /\ len_132^0-len_132^post26 == 0 /\ -r_124^post26+r_124^0 == 0 /\ -__disjvr_4^post26+__disjvr_4^0 == 0 /\ -__disjvr_22^post26+__disjvr_22^0 == 0 /\ head_129^0-head_129^post26 == 0 /\ __disjvr_7^0-__disjvr_7^post26 == 0 /\ result_11^10-temp0_31^10 == 0 /\ -x_16^post26+x_16^0 == 0 /\ -temp0_15^post26+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post26 == 0 /\ __disjvr_30^0-__disjvr_30^post26 == 0 /\ head_27^post26-head_SLAM_f_26^10 <= 0 /\ head_27^post26-head_SLAM_f_26^10 == 0 /\ a_215^0-a_215^post26 == 0 /\ -__disjvr_12^post26+__disjvr_12^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -__disjvr_20^post26+__disjvr_20^0 == 0 /\ -__disjvr_27^post26+__disjvr_27^0 == 0 /\ -x_20^post26+x_20^0 == 0 /\ -__disjvr_18^post26+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post26 == 0 /\ -r_39^post26+r_39^0 == 0 /\ __disjvr_19^0-__disjvr_19^post26 == 0 /\ -nondet_12^post26+nondet_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post26 == 0 /\ -i_94^post26+i_94^0 == 0 /\ -t_23^post26+t_23^0 == 0 /\ -head_27^post26+head_SLAM_f_26^10 <= 0), cost: 1
  39: l25 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_215^0'=a_215^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, __disjvr_21^0'=__disjvr_21^post39, __disjvr_3^0'=__disjvr_3^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, head_129^0'=head_129^post39, __disjvr_24^0'=__disjvr_24^post39, len_183^0'=len_183^post39, __disjvr_8^0'=__disjvr_8^post39, a_116^0'=a_116^post39, tmp_34^0'=tmp_34^post39, __disjvr_19^0'=__disjvr_19^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, __disjvr_29^0'=__disjvr_29^post39, r_39^0'=r_39^post39, __disjvr_11^0'=__disjvr_11^post39, a_260^0'=a_260^post39, i_30^0'=i_30^post39, __disjvr_5^0'=__disjvr_5^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_16^0'=__disjvr_16^post39, head_175^0'=head_175^post39, __disjvr_26^0'=__disjvr_26^post39, nondet_12^0'=nondet_12^post39, a_184^0'=a_184^post39, x_20^0'=x_20^post39, __disjvr_20^0'=__disjvr_20^post39, i_167^0'=i_167^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_88^0'=rcd_88^post39, __disjvr_13^0'=__disjvr_13^post39, f_170^0'=f_170^post39, __disjvr_23^0'=__disjvr_23^post39, len_132^0'=len_132^post39, __disjvr_7^0'=__disjvr_7^post39, temp0_15^0'=temp0_15^post39, temp_35^0'=temp_35^post39, __disjvr_18^0'=__disjvr_18^post39, head_32^0'=head_32^post39, __disjvr_28^0'=__disjvr_28^post39, r_163^0'=r_163^post39, __disjvr_10^0'=__disjvr_10^post39, a_237^0'=a_237^post39, y_19^0'=y_19^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_4^0'=__disjvr_4^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, __disjvr_15^0'=__disjvr_15^post39, head_14^0'=head_14^post39, __disjvr_25^0'=__disjvr_25^post39, length_29^0'=length_29^post39, __disjvr_9^0'=__disjvr_9^post39, a_147^0'=a_147^post39, x_16^0'=x_16^post39, __disjvr_1^0'=__disjvr_1^post39, i_108^0'=i_108^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_58^0'=rcd_58^post39, __disjvr_12^0'=__disjvr_12^post39, ct_17^0'=ct_17^post39, i_94^0'=i_94^post39, __disjvr_6^0'=__disjvr_6^post39, t_23^0'=t_23^post39, temp0_31^0'=temp0_31^post39, __disjvr_17^0'=__disjvr_17^post39, head_27^0'=head_27^post39, __disjvr_27^0'=__disjvr_27^post39, r_124^0'=r_124^post39, (0 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ -head_27^post39+head_27^0 == 0 /\ f_170^0-f_170^post39 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ x_20^0-x_20^post39 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ a_116^0-a_116^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post39 == 0 /\ -head_14^post39+head_14^0 == 0 /\ 1-length_29^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post39-length_29^0 <= 0 /\ tmp_34^post39-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -len_132^post39+len_132^0 == 0 /\ -a_147^post39+a_147^0 == 0 /\ -2+i_30^post39 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ 2-length_29^0 <= 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ -__disjvr_29^post39+__disjvr_29^0 == 0 /\ a_260^0-a_260^post39 == 0 /\ -head_175^post39+head_175^0 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ a_215^0-a_215^post39 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+length_29^0 <= 0 /\ -tmp_34^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ tmp_34^post39-head_32^post39 <= 0 /\ -i_167^post39+i_167^0 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ -__disjvr_10^post39+__disjvr_10^0 == 0 /\ -1-i_30^0+i_30^post39 == 0 /\ -r_124^post39+r_124^0 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ len_183^0-len_183^post39 == 0 /\ y_19^0-y_19^post39 == 0 /\ -head_32^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -x_16^post39+x_16^0 == 0 /\ -a_237^post39+a_237^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ rcd_88^0-rcd_88^post39 == 0 /\ 2-i_30^post39 <= 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ -tmp_34^post39+head_32^post39 <= 0 /\ -tmp_34^post39+head_32^post39 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -__disjvr_11^post39+__disjvr_11^0 == 0 /\ head_32^post39-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ r_39^0-r_39^post39 == 0 /\ r_163^0-r_163^post39 == 0 /\ -ct_17^post39+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post39 == 0 /\ -i_94^post39+i_94^0 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ tmp_34^post39-temp_35^0 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0), cost: 1
  27: l26 -> l27 : __disjvr_0^0'=__disjvr_0^post27, a_215^0'=a_215^post27, x_SLAM_f_18^0'=x_SLAM_f_18^post27, __disjvr_21^0'=__disjvr_21^post27, __disjvr_3^0'=__disjvr_3^post27, result_11^0'=result_11^post27, __disjvr_14^0'=__disjvr_14^post27, head_129^0'=head_129^post27, __disjvr_24^0'=__disjvr_24^post27, len_183^0'=len_183^post27, __disjvr_8^0'=__disjvr_8^post27, a_116^0'=a_116^post27, tmp_34^0'=tmp_34^post27, __disjvr_19^0'=__disjvr_19^post27, head_SLAM_f_26^0'=head_SLAM_f_26^post27, __disjvr_29^0'=__disjvr_29^post27, r_39^0'=r_39^post27, __disjvr_11^0'=__disjvr_11^post27, a_260^0'=a_260^post27, i_30^0'=i_30^post27, __disjvr_5^0'=__disjvr_5^post27, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post27, __disjvr_16^0'=__disjvr_16^post27, head_175^0'=head_175^post27, __disjvr_26^0'=__disjvr_26^post27, nondet_12^0'=nondet_12^post27, a_184^0'=a_184^post27, x_20^0'=x_20^post27, __disjvr_20^0'=__disjvr_20^post27, i_167^0'=i_167^post27, __disjvr_30^0'=__disjvr_30^post27, rcd_88^0'=rcd_88^post27, __disjvr_13^0'=__disjvr_13^post27, f_170^0'=f_170^post27, __disjvr_23^0'=__disjvr_23^post27, len_132^0'=len_132^post27, __disjvr_7^0'=__disjvr_7^post27, temp0_15^0'=temp0_15^post27, temp_35^0'=temp_35^post27, __disjvr_18^0'=__disjvr_18^post27, head_32^0'=head_32^post27, __disjvr_28^0'=__disjvr_28^post27, r_163^0'=r_163^post27, __disjvr_10^0'=__disjvr_10^post27, a_237^0'=a_237^post27, y_19^0'=y_19^post27, __disjvr_22^0'=__disjvr_22^post27, __disjvr_4^0'=__disjvr_4^post27, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27, __disjvr_15^0'=__disjvr_15^post27, head_14^0'=head_14^post27, __disjvr_25^0'=__disjvr_25^post27, length_29^0'=length_29^post27, __disjvr_9^0'=__disjvr_9^post27, a_147^0'=a_147^post27, x_16^0'=x_16^post27, __disjvr_1^0'=__disjvr_1^post27, i_108^0'=i_108^post27, __disjvr_2^0'=__disjvr_2^post27, rcd_58^0'=rcd_58^post27, __disjvr_12^0'=__disjvr_12^post27, ct_17^0'=ct_17^post27, i_94^0'=i_94^post27, __disjvr_6^0'=__disjvr_6^post27, t_23^0'=t_23^post27, temp0_31^0'=temp0_31^post27, __disjvr_17^0'=__disjvr_17^post27, head_27^0'=head_27^post27, __disjvr_27^0'=__disjvr_27^post27, r_124^0'=r_124^post27, (__disjvr_3^0-__disjvr_3^post27 == 0 /\ -__disjvr_13^0+__disjvr_13^post27 == 0 /\ -x_20^post27+x_20^0 == 0 /\ -x_16^post27+x_16^0 == 0 /\ __disjvr_14^0-__disjvr_14^post27 == 0 /\ -a_260^post27+a_260^0 == 0 /\ __disjvr_28^0-__disjvr_28^post27 == 0 /\ result_11^0-result_11^post27 == 0 /\ __disjvr_1^0-__disjvr_1^post27 == 0 /\ __disjvr_7^0-__disjvr_7^post27 == 0 /\ -__disjvr_22^post27+__disjvr_22^0 == 0 /\ __disjvr_9^0-__disjvr_9^post27 == 0 /\ __disjvr_26^0-__disjvr_26^post27 == 0 /\ -__disjvr_23^post27+__disjvr_23^0 == 0 /\ __disjvr_13^0-__disjvr_13^post27 == 0 /\ -temp0_15^post27+temp0_15^0 == 0 /\ -__disjvr_12^post27+__disjvr_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post27 == 0 /\ -tmp_34^post27+tmp_34^0 == 0 /\ rcd_58^0-rcd_58^post27 == 0 /\ __disjvr_30^0-__disjvr_30^post27 == 0 /\ ct_17^0-ct_17^post27 == 0 /\ -head_14^post27+head_14^0 == 0 /\ -r_124^post27+r_124^0 == 0 /\ -__disjvr_25^post27+__disjvr_25^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post27 == 0 /\ -i_108^post27+i_108^0 == 0 /\ -__disjvr_20^post27+__disjvr_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post27 == 0 /\ -i_94^post27+i_94^0 == 0 /\ __disjvr_24^0-__disjvr_24^post27 == 0 /\ -t_23^post27+t_23^0 == 0 /\ __disjvr_11^0-__disjvr_11^post27 == 0 /\ -temp_35^post27+temp_35^0 == 0 /\ len_183^0-len_183^post27 == 0 /\ -r_39^post27+r_39^0 == 0 /\ a_237^0-a_237^post27 == 0 /\ -__disjvr_17^post27+__disjvr_17^0 == 0 /\ -a_147^post27+a_147^0 == 0 /\ a_184^0-a_184^post27 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post27+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_167^0-i_167^post27 == 0 /\ __disjvr_15^0-__disjvr_15^post27 == 0 /\ -head_27^post27+head_27^0 == 0 /\ -nondet_12^post27+nondet_12^0 == 0 /\ -__disjvr_27^post27+__disjvr_27^0 == 0 /\ -length_29^post27+length_29^0 == 0 /\ __disjvr_16^0-__disjvr_16^post27 == 0 /\ a_215^0-a_215^post27 == 0 /\ -__disjvr_2^post27+__disjvr_2^0 == 0 /\ head_175^0-head_175^post27 == 0 /\ -y_19^post27+y_19^0 == 0 /\ __disjvr_29^0-__disjvr_29^post27 == 0 /\ i_30^0-i_30^post27 == 0 /\ -__disjvr_6^post27+__disjvr_6^0 == 0 /\ len_132^0-len_132^post27 == 0 /\ __disjvr_19^0-__disjvr_19^post27 == 0 /\ -temp0_31^post27+temp0_31^0 == 0 /\ head_129^0-head_129^post27 == 0 /\ -rcd_88^post27+rcd_88^0 == 0 /\ __disjvr_8^0-__disjvr_8^post27 == 0 /\ -__disjvr_5^post27+__disjvr_5^0 == 0 /\ __disjvr_10^0-__disjvr_10^post27 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post27 == 0 /\ __disjvr_18^0-__disjvr_18^post27 == 0 /\ -head_32^post27+head_32^0 == 0 /\ -r_163^post27+r_163^0 == 0 /\ -__disjvr_4^post27+__disjvr_4^0 == 0 /\ f_170^0-f_170^post27 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post27 == 0 /\ a_116^0-a_116^post27 == 0), cost: 1
  28: l27 -> l28 : __disjvr_0^0'=__disjvr_0^post28, a_215^0'=a_215^post28, x_SLAM_f_18^0'=x_SLAM_f_18^post28, __disjvr_21^0'=__disjvr_21^post28, __disjvr_3^0'=__disjvr_3^post28, result_11^0'=result_11^post28, __disjvr_14^0'=__disjvr_14^post28, head_129^0'=head_129^post28, __disjvr_24^0'=__disjvr_24^post28, len_183^0'=len_183^post28, __disjvr_8^0'=__disjvr_8^post28, a_116^0'=a_116^post28, tmp_34^0'=tmp_34^post28, __disjvr_19^0'=__disjvr_19^post28, head_SLAM_f_26^0'=head_SLAM_f_26^post28, __disjvr_29^0'=__disjvr_29^post28, r_39^0'=r_39^post28, __disjvr_11^0'=__disjvr_11^post28, a_260^0'=a_260^post28, i_30^0'=i_30^post28, __disjvr_5^0'=__disjvr_5^post28, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post28, __disjvr_16^0'=__disjvr_16^post28, head_175^0'=head_175^post28, __disjvr_26^0'=__disjvr_26^post28, nondet_12^0'=nondet_12^post28, a_184^0'=a_184^post28, x_20^0'=x_20^post28, __disjvr_20^0'=__disjvr_20^post28, i_167^0'=i_167^post28, __disjvr_30^0'=__disjvr_30^post28, rcd_88^0'=rcd_88^post28, __disjvr_13^0'=__disjvr_13^post28, f_170^0'=f_170^post28, __disjvr_23^0'=__disjvr_23^post28, len_132^0'=len_132^post28, __disjvr_7^0'=__disjvr_7^post28, temp0_15^0'=temp0_15^post28, temp_35^0'=temp_35^post28, __disjvr_18^0'=__disjvr_18^post28, head_32^0'=head_32^post28, __disjvr_28^0'=__disjvr_28^post28, r_163^0'=r_163^post28, __disjvr_10^0'=__disjvr_10^post28, a_237^0'=a_237^post28, y_19^0'=y_19^post28, __disjvr_22^0'=__disjvr_22^post28, __disjvr_4^0'=__disjvr_4^post28, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28, __disjvr_15^0'=__disjvr_15^post28, head_14^0'=head_14^post28, __disjvr_25^0'=__disjvr_25^post28, length_29^0'=length_29^post28, __disjvr_9^0'=__disjvr_9^post28, a_147^0'=a_147^post28, x_16^0'=x_16^post28, __disjvr_1^0'=__disjvr_1^post28, i_108^0'=i_108^post28, __disjvr_2^0'=__disjvr_2^post28, rcd_58^0'=rcd_58^post28, __disjvr_12^0'=__disjvr_12^post28, ct_17^0'=ct_17^post28, i_94^0'=i_94^post28, __disjvr_6^0'=__disjvr_6^post28, t_23^0'=t_23^post28, temp0_31^0'=temp0_31^post28, __disjvr_17^0'=__disjvr_17^post28, head_27^0'=head_27^post28, __disjvr_27^0'=__disjvr_27^post28, r_124^0'=r_124^post28, (temp0_15^0-temp0_15^post28 == 0 /\ head_175^0-head_175^post28 == 0 /\ nondet_12^0-nondet_12^post28 == 0 /\ -__disjvr_15^post28+__disjvr_15^0 == 0 /\ -ct_17^post28+ct_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post28 == 0 /\ -__disjvr_17^post28+__disjvr_17^0 == 0 /\ -len_132^post28+len_132^0 == 0 /\ -a_184^post28+a_184^0 == 0 /\ -a_147^post28+a_147^0 == 0 /\ __disjvr_0^0-__disjvr_0^post28 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post28 == 0 /\ __disjvr_24^0-__disjvr_24^post28 == 0 /\ -__disjvr_30^post28+__disjvr_30^0 == 0 /\ -head_27^post28+head_27^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post28 == 0 /\ -length_29^post28+length_29^0 == 0 /\ -__disjvr_6^post28+__disjvr_6^0 == 0 /\ -__disjvr_2^post28+__disjvr_2^0 == 0 /\ -i_30^post28+i_30^0 == 0 /\ x_20^0-x_20^post28 == 0 /\ len_183^0-len_183^post28 == 0 /\ f_170^0-f_170^post28 == 0 /\ -y_19^post28+y_19^0 == 0 /\ -__disjvr_1^post28+__disjvr_1^0 == 0 /\ -__disjvr_13^post28+__disjvr_13^0 == 0 /\ -temp0_31^post28+temp0_31^0 == 0 /\ head_32^0-head_32^post28 == 0 /\ -__disjvr_4^post28+__disjvr_4^0 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ i_167^0-i_167^post28 == 0 /\ -rcd_88^post28+rcd_88^0 == 0 /\ r_39^0-r_39^post28 == 0 /\ -rcd_58^post28+rcd_58^0 == 0 /\ a_215^0-a_215^post28 == 0 /\ __disjvr_3^0-__disjvr_3^post28 == 0 /\ result_11^0-result_11^post28 == 0 /\ __disjvr_26^0-__disjvr_26^post28 == 0 /\ r_163^0-r_163^post28 == 0 /\ __disjvr_5^0-__disjvr_5^post28 == 0 /\ -temp_35^post28+temp_35^0 == 0 /\ __disjvr_19^0-__disjvr_19^post28 == 0 /\ head_14^0-head_14^post28 == 0 /\ __disjvr_20^0-__disjvr_20^post28 == 0 /\ __disjvr_8^0-__disjvr_8^post28 == 0 /\ -x_16^post28+x_16^0 == 0 /\ head_129^0-head_129^post28 == 0 /\ -__disjvr_25^post28+__disjvr_25^0 == 0 /\ a_260^0-a_260^post28 == 0 /\ -head_27^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post28 == 0 /\ -__disjvr_10^post28+__disjvr_10^0 == 0 /\ -a_237^post28+a_237^0 == 0 /\ a_116^0-a_116^post28 == 0 /\ -__disjvr_12^post28+__disjvr_12^0 == 0 /\ -__disjvr_16^post28+__disjvr_16^0 == 0 /\ tmp_34^0-tmp_34^post28 == 0 /\ -__disjvr_9^post28+__disjvr_9^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post28 == 0 /\ -__disjvr_27^post28+__disjvr_27^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post28 == 0 /\ -i_108^post28+i_108^0 == 0 /\ __disjvr_28^0-__disjvr_28^post28 == 0 /\ __disjvr_22^0-__disjvr_22^post28 == 0 /\ -r_124^post28+r_124^0 == 0 /\ -head_SLAM_f_26^post28+head_SLAM_f_26^0 == 0 /\ __disjvr_7^0-__disjvr_7^post28 == 0 /\ __disjvr_29^0-__disjvr_29^post28 == 0 /\ __disjvr_14^0-__disjvr_14^post28 == 0 /\ head_27^0 <= 0 /\ -i_94^post28+i_94^0 == 0 /\ -t_23^post28+t_23^0 == 0 /\ -__disjvr_18^post28+__disjvr_18^0 == 0), cost: 1
  29: l28 -> l29 : __disjvr_0^0'=__disjvr_0^post29, a_215^0'=a_215^post29, x_SLAM_f_18^0'=x_SLAM_f_18^post29, __disjvr_21^0'=__disjvr_21^post29, __disjvr_3^0'=__disjvr_3^post29, result_11^0'=result_11^post29, __disjvr_14^0'=__disjvr_14^post29, head_129^0'=head_129^post29, __disjvr_24^0'=__disjvr_24^post29, len_183^0'=len_183^post29, __disjvr_8^0'=__disjvr_8^post29, a_116^0'=a_116^post29, tmp_34^0'=tmp_34^post29, __disjvr_19^0'=__disjvr_19^post29, head_SLAM_f_26^0'=head_SLAM_f_26^post29, __disjvr_29^0'=__disjvr_29^post29, r_39^0'=r_39^post29, __disjvr_11^0'=__disjvr_11^post29, a_260^0'=a_260^post29, i_30^0'=i_30^post29, __disjvr_5^0'=__disjvr_5^post29, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post29, __disjvr_16^0'=__disjvr_16^post29, head_175^0'=head_175^post29, __disjvr_26^0'=__disjvr_26^post29, nondet_12^0'=nondet_12^post29, a_184^0'=a_184^post29, x_20^0'=x_20^post29, __disjvr_20^0'=__disjvr_20^post29, i_167^0'=i_167^post29, __disjvr_30^0'=__disjvr_30^post29, rcd_88^0'=rcd_88^post29, __disjvr_13^0'=__disjvr_13^post29, f_170^0'=f_170^post29, __disjvr_23^0'=__disjvr_23^post29, len_132^0'=len_132^post29, __disjvr_7^0'=__disjvr_7^post29, temp0_15^0'=temp0_15^post29, temp_35^0'=temp_35^post29, __disjvr_18^0'=__disjvr_18^post29, head_32^0'=head_32^post29, __disjvr_28^0'=__disjvr_28^post29, r_163^0'=r_163^post29, __disjvr_10^0'=__disjvr_10^post29, a_237^0'=a_237^post29, y_19^0'=y_19^post29, __disjvr_22^0'=__disjvr_22^post29, __disjvr_4^0'=__disjvr_4^post29, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29, __disjvr_15^0'=__disjvr_15^post29, head_14^0'=head_14^post29, __disjvr_25^0'=__disjvr_25^post29, length_29^0'=length_29^post29, __disjvr_9^0'=__disjvr_9^post29, a_147^0'=a_147^post29, x_16^0'=x_16^post29, __disjvr_1^0'=__disjvr_1^post29, i_108^0'=i_108^post29, __disjvr_2^0'=__disjvr_2^post29, rcd_58^0'=rcd_58^post29, __disjvr_12^0'=__disjvr_12^post29, ct_17^0'=ct_17^post29, i_94^0'=i_94^post29, __disjvr_6^0'=__disjvr_6^post29, t_23^0'=t_23^post29, temp0_31^0'=temp0_31^post29, __disjvr_17^0'=__disjvr_17^post29, head_27^0'=head_27^post29, __disjvr_27^0'=__disjvr_27^post29, r_124^0'=r_124^post29, (a_184^0-a_184^post29 == 0 /\ -x_20^post29+x_20^0 == 0 /\ -x_16^post29+x_16^0 == 0 /\ -a_237^post29+a_237^0 == 0 /\ -__disjvr_14^0+__disjvr_14^post29 == 0 /\ -__disjvr_25^post29+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post29 == 0 /\ -__disjvr_1^post29+__disjvr_1^0 == 0 /\ -__disjvr_22^post29+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post29 == 0 /\ -__disjvr_5^post29+__disjvr_5^0 == 0 /\ __disjvr_3^0-__disjvr_3^post29 == 0 /\ -r_124^post29+r_124^0 == 0 /\ i_30^0-i_30^post29 == 0 /\ __disjvr_10^0-__disjvr_10^post29 == 0 /\ head_175^0-head_175^post29 == 0 /\ __disjvr_14^0-__disjvr_14^post29 == 0 /\ __disjvr_20^0-__disjvr_20^post29 == 0 /\ -head_14^post29+head_14^0 == 0 /\ -__disjvr_27^post29+__disjvr_27^0 == 0 /\ __disjvr_18^0-__disjvr_18^post29 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post29 == 0 /\ -__disjvr_9^post29+__disjvr_9^0 == 0 /\ a_260^0-a_260^post29 == 0 /\ __disjvr_24^0-__disjvr_24^post29 == 0 /\ -t_23^post29+t_23^0 == 0 /\ rcd_88^0-rcd_88^post29 == 0 /\ -__disjvr_7^post29+__disjvr_7^0 == 0 /\ __disjvr_2^0-__disjvr_2^post29 == 0 /\ -__disjvr_12^post29+__disjvr_12^0 == 0 /\ nondet_12^0-nondet_12^post29 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post29 == 0 /\ -i_94^post29+i_94^0 == 0 /\ tmp_34^0-tmp_34^post29 == 0 /\ head_32^0-head_32^post29 == 0 /\ -__disjvr_17^post29+__disjvr_17^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post29 == 0 /\ -ct_17^post29+ct_17^0 == 0 /\ -a_116^post29+a_116^0 == 0 /\ temp_35^0-temp_35^post29 == 0 /\ -f_170^post29+f_170^0 == 0 /\ a_215^0-a_215^post29 == 0 /\ -__disjvr_15^post29+__disjvr_15^0 == 0 /\ __disjvr_23^0-__disjvr_23^post29 == 0 /\ -len_132^post29+len_132^0 == 0 /\ -__disjvr_30^post29+__disjvr_30^0 == 0 /\ -a_147^post29+a_147^0 == 0 /\ -i_108^post29+i_108^0 == 0 /\ -__disjvr_26^post29+__disjvr_26^0 == 0 /\ -__disjvr_6^post29+__disjvr_6^0 == 0 /\ -length_29^post29+length_29^0 == 0 /\ -head_27^post29+head_27^0 == 0 /\ -__disjvr_28^post29+__disjvr_28^0 == 0 /\ -temp0_15^post29+temp0_15^0 == 0 /\ result_11^0-result_11^post29 == 0 /\ -__disjvr_8^post29+__disjvr_8^0 == 0 /\ r_39^0-r_39^post29 == 0 /\ r_163^0-r_163^post29 == 0 /\ -__disjvr_19^post29+__disjvr_19^0 == 0 /\ -__disjvr_13^post29+__disjvr_13^0 == 0 /\ y_19^0-y_19^post29 == 0 /\ -temp0_31^post29+temp0_31^0 == 0 /\ head_129^0-head_129^post29 == 0 /\ __disjvr_21^0-__disjvr_21^post29 == 0 /\ -__disjvr_4^post29+__disjvr_4^0 == 0 /\ -i_167^post29+i_167^0 == 0 /\ -rcd_58^post29+rcd_58^0 == 0 /\ -__disjvr_29^post29+__disjvr_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post29 == 0 /\ __disjvr_11^0-__disjvr_11^post29 == 0 /\ len_183^0-len_183^post29 == 0), cost: 1
  30: l29 -> l30 : __disjvr_0^0'=__disjvr_0^post30, a_215^0'=a_215^post30, x_SLAM_f_18^0'=x_SLAM_f_18^post30, __disjvr_21^0'=__disjvr_21^post30, __disjvr_3^0'=__disjvr_3^post30, result_11^0'=result_11^post30, __disjvr_14^0'=__disjvr_14^post30, head_129^0'=head_129^post30, __disjvr_24^0'=__disjvr_24^post30, len_183^0'=len_183^post30, __disjvr_8^0'=__disjvr_8^post30, a_116^0'=a_116^post30, tmp_34^0'=tmp_34^post30, __disjvr_19^0'=__disjvr_19^post30, head_SLAM_f_26^0'=head_SLAM_f_26^post30, __disjvr_29^0'=__disjvr_29^post30, r_39^0'=r_39^post30, __disjvr_11^0'=__disjvr_11^post30, a_260^0'=a_260^post30, i_30^0'=i_30^post30, __disjvr_5^0'=__disjvr_5^post30, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post30, __disjvr_16^0'=__disjvr_16^post30, head_175^0'=head_175^post30, __disjvr_26^0'=__disjvr_26^post30, nondet_12^0'=nondet_12^post30, a_184^0'=a_184^post30, x_20^0'=x_20^post30, __disjvr_20^0'=__disjvr_20^post30, i_167^0'=i_167^post30, __disjvr_30^0'=__disjvr_30^post30, rcd_88^0'=rcd_88^post30, __disjvr_13^0'=__disjvr_13^post30, f_170^0'=f_170^post30, __disjvr_23^0'=__disjvr_23^post30, len_132^0'=len_132^post30, __disjvr_7^0'=__disjvr_7^post30, temp0_15^0'=temp0_15^post30, temp_35^0'=temp_35^post30, __disjvr_18^0'=__disjvr_18^post30, head_32^0'=head_32^post30, __disjvr_28^0'=__disjvr_28^post30, r_163^0'=r_163^post30, __disjvr_10^0'=__disjvr_10^post30, a_237^0'=a_237^post30, y_19^0'=y_19^post30, __disjvr_22^0'=__disjvr_22^post30, __disjvr_4^0'=__disjvr_4^post30, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30, __disjvr_15^0'=__disjvr_15^post30, head_14^0'=head_14^post30, __disjvr_25^0'=__disjvr_25^post30, length_29^0'=length_29^post30, __disjvr_9^0'=__disjvr_9^post30, a_147^0'=a_147^post30, x_16^0'=x_16^post30, __disjvr_1^0'=__disjvr_1^post30, i_108^0'=i_108^post30, __disjvr_2^0'=__disjvr_2^post30, rcd_58^0'=rcd_58^post30, __disjvr_12^0'=__disjvr_12^post30, ct_17^0'=ct_17^post30, i_94^0'=i_94^post30, __disjvr_6^0'=__disjvr_6^post30, t_23^0'=t_23^post30, temp0_31^0'=temp0_31^post30, __disjvr_17^0'=__disjvr_17^post30, head_27^0'=head_27^post30, __disjvr_27^0'=__disjvr_27^post30, r_124^0'=r_124^post30, (0 == 0 /\ __disjvr_5^0-__disjvr_5^post30 == 0 /\ rcd_58^0-rcd_58^post30 == 0 /\ -__disjvr_15^post30+__disjvr_15^0 == 0 /\ -i_108^post30+i_108^0 == 0 /\ -f_170^post30+f_170^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post30+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_6^post30+__disjvr_6^0 == 0 /\ head_129^0-head_129^post30 == 0 /\ -__disjvr_17^post30+__disjvr_17^0 == 0 /\ -__disjvr_9^post30+__disjvr_9^0 == 0 /\ __disjvr_11^0-__disjvr_11^post30 == 0 /\ -temp0_15^post30+temp0_15^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^post30 <= 0 /\ a_116^0-a_116^post30 == 0 /\ -nondet_12^post30+nondet_12^0 == 0 /\ -__disjvr_2^post30+__disjvr_2^0 == 0 /\ a_260^0-a_260^post30 == 0 /\ -x_20^post30+head_14^0 <= 0 /\ a_184^0-a_184^post30 == 0 /\ a_215^0-a_215^post30 == 0 /\ __disjvr_16^0-__disjvr_16^post30 == 0 /\ -__disjvr_4^post30+__disjvr_4^0 == 0 /\ -a_147^post30+a_147^0 == 0 /\ __disjvr_7^0-__disjvr_7^post30 == 0 /\ __disjvr_29^0-__disjvr_29^post30 == 0 /\ __disjvr_28^0-__disjvr_28^post30 == 0 /\ -r_163^post30+r_163^0 == 0 /\ -rcd_88^post30+rcd_88^0 == 0 /\ -head_32^post30+head_32^0 == 0 /\ __disjvr_26^0-__disjvr_26^post30 == 0 /\ y_19^post30 <= 0 /\ x_20^post30-head_14^0 <= 0 /\ -temp0_31^post30+temp0_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post30 == 0 /\ __disjvr_30^0-__disjvr_30^post30 == 0 /\ len_132^0-len_132^post30 == 0 /\ __disjvr_14^0-__disjvr_14^post30 == 0 /\ head_175^0-head_175^post30 == 0 /\ __disjvr_8^0-__disjvr_8^post30 == 0 /\ -temp_35^post30+temp_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post30 == 0 /\ -head_14^0+x_16^post30 <= 0 /\ -head_14^0+x_16^post30 == 0 /\ __disjvr_18^0-__disjvr_18^post30 == 0 /\ -__disjvr_25^post30+__disjvr_25^0 == 0 /\ y_19^post30-ct_17^post30 <= 0 /\ y_19^post30-ct_17^post30 == 0 /\ -x_20^post30+x_SLAM_f_18^post30 <= 0 /\ -head_14^0+x_SLAM_f_18^post30 <= 0 /\ __disjvr_21^0-__disjvr_21^post30 == 0 /\ -__disjvr_1^post30+__disjvr_1^0 == 0 /\ -y_19^post30 <= 0 /\ -r_124^post30+r_124^0 == 0 /\ -head_27^0 <= 0 /\ len_183^0-len_183^post30 == 0 /\ x_16^post30-x_SLAM_f_18^post30 <= 0 /\ -__disjvr_10^post30+__disjvr_10^0 == 0 /\ i_167^0-i_167^post30 == 0 /\ -tmp_34^post30+tmp_34^0 == 0 /\ ct_17^post30 <= 0 /\ ct_17^post30 == 0 /\ -ct_17^post30 <= 0 /\ -head_14^post30+head_14^0 == 0 /\ -__disjvr_20^post30+__disjvr_20^0 == 0 /\ a_237^0-a_237^post30 == 0 /\ head_14^0-x_16^post30 <= 0 /\ -length_29^post30+length_29^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post30 == 0 /\ -y_19^post30+ct_17^post30 <= 0 /\ -__disjvr_23^post30+__disjvr_23^0 == 0 /\ -i_94^post30+i_94^0 == 0 /\ x_20^post30-x_SLAM_f_18^post30 <= 0 /\ x_20^post30-x_SLAM_f_18^post30 == 0 /\ head_14^0-x_SLAM_f_18^post30 <= 0 /\ -t_23^post30+t_23^0 == 0 /\ __disjvr_22^0-__disjvr_22^post30 == 0 /\ -__disjvr_12^post30+__disjvr_12^0 == 0 /\ result_11^0-result_11^post30 == 0 /\ -__disjvr_27^post30+__disjvr_27^0 == 0 /\ head_27^0 <= 0 /\ -x_16^post30+x_SLAM_f_18^post30 <= 0 /\ -x_16^post30+x_SLAM_f_18^post30 == 0 /\ __disjvr_0^0-__disjvr_0^post30 == 0 /\ i_30^0-i_30^post30 == 0 /\ r_39^0-r_39^post30 == 0 /\ __disjvr_3^0-__disjvr_3^post30 == 0), cost: 1
  31: l30 -> l31 : __disjvr_0^0'=__disjvr_0^post31, a_215^0'=a_215^post31, x_SLAM_f_18^0'=x_SLAM_f_18^post31, __disjvr_21^0'=__disjvr_21^post31, __disjvr_3^0'=__disjvr_3^post31, result_11^0'=result_11^post31, __disjvr_14^0'=__disjvr_14^post31, head_129^0'=head_129^post31, __disjvr_24^0'=__disjvr_24^post31, len_183^0'=len_183^post31, __disjvr_8^0'=__disjvr_8^post31, a_116^0'=a_116^post31, tmp_34^0'=tmp_34^post31, __disjvr_19^0'=__disjvr_19^post31, head_SLAM_f_26^0'=head_SLAM_f_26^post31, __disjvr_29^0'=__disjvr_29^post31, r_39^0'=r_39^post31, __disjvr_11^0'=__disjvr_11^post31, a_260^0'=a_260^post31, i_30^0'=i_30^post31, __disjvr_5^0'=__disjvr_5^post31, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post31, __disjvr_16^0'=__disjvr_16^post31, head_175^0'=head_175^post31, __disjvr_26^0'=__disjvr_26^post31, nondet_12^0'=nondet_12^post31, a_184^0'=a_184^post31, x_20^0'=x_20^post31, __disjvr_20^0'=__disjvr_20^post31, i_167^0'=i_167^post31, __disjvr_30^0'=__disjvr_30^post31, rcd_88^0'=rcd_88^post31, __disjvr_13^0'=__disjvr_13^post31, f_170^0'=f_170^post31, __disjvr_23^0'=__disjvr_23^post31, len_132^0'=len_132^post31, __disjvr_7^0'=__disjvr_7^post31, temp0_15^0'=temp0_15^post31, temp_35^0'=temp_35^post31, __disjvr_18^0'=__disjvr_18^post31, head_32^0'=head_32^post31, __disjvr_28^0'=__disjvr_28^post31, r_163^0'=r_163^post31, __disjvr_10^0'=__disjvr_10^post31, a_237^0'=a_237^post31, y_19^0'=y_19^post31, __disjvr_22^0'=__disjvr_22^post31, __disjvr_4^0'=__disjvr_4^post31, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31, __disjvr_15^0'=__disjvr_15^post31, head_14^0'=head_14^post31, __disjvr_25^0'=__disjvr_25^post31, length_29^0'=length_29^post31, __disjvr_9^0'=__disjvr_9^post31, a_147^0'=a_147^post31, x_16^0'=x_16^post31, __disjvr_1^0'=__disjvr_1^post31, i_108^0'=i_108^post31, __disjvr_2^0'=__disjvr_2^post31, rcd_58^0'=rcd_58^post31, __disjvr_12^0'=__disjvr_12^post31, ct_17^0'=ct_17^post31, i_94^0'=i_94^post31, __disjvr_6^0'=__disjvr_6^post31, t_23^0'=t_23^post31, temp0_31^0'=temp0_31^post31, __disjvr_17^0'=__disjvr_17^post31, head_27^0'=head_27^post31, __disjvr_27^0'=__disjvr_27^post31, r_124^0'=r_124^post31, (-head_175^post31+head_175^0 == 0 /\ tmp_34^0-tmp_34^post31 == 0 /\ a_215^0-a_215^post31 == 0 /\ -rcd_58^post31+rcd_58^0 == 0 /\ a_147^0-a_147^post31 == 0 /\ -__disjvr_1^post31+__disjvr_1^0 == 0 /\ -a_237^post31+a_237^0 == 0 /\ __disjvr_24^0-__disjvr_24^post31 == 0 /\ -__disjvr_10^post31+__disjvr_10^0 == 0 /\ -i_94^post31+i_94^0 == 0 /\ r_163^0-r_163^post31 == 0 /\ i_30^0-i_30^post31 == 0 /\ -r_124^post31+r_124^0 == 0 /\ temp_35^0-temp_35^post31 == 0 /\ r_39^0-r_39^post31 == 0 /\ temp0_15^0-temp0_15^post31 == 0 /\ -__disjvr_16^post31+__disjvr_16^0 == 0 /\ -__disjvr_11^post31+__disjvr_11^0 == 0 /\ nondet_12^0-nondet_12^post31 == 0 /\ __disjvr_12^0-__disjvr_12^post31 == 0 /\ __disjvr_19^0-__disjvr_19^post31 == 0 /\ __disjvr_2^0-__disjvr_2^post31 == 0 /\ -t_23^post31+t_23^0 == 0 /\ -length_29^post31+length_29^0 == 0 /\ -__disjvr_23^post31+__disjvr_23^0 == 0 /\ i_108^0-i_108^post31 == 0 /\ head_129^0-head_129^post31 == 0 /\ a_260^0-a_260^post31 == 0 /\ -head_14^post31+head_14^0 == 0 /\ -__disjvr_27^post31+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post31+head_SLAM_f_26^0 == 0 /\ f_170^0-f_170^post31 == 0 /\ -x_16^post31+x_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post31 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post31 == 0 /\ result_11^0-result_11^post31 == 0 /\ a_116^0-a_116^post31 == 0 /\ -y_19^post31+y_19^0 == 0 /\ -__disjvr_18^post31+__disjvr_18^0 == 0 /\ -a_184^post31+a_184^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post31+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_6^post31+__disjvr_6^0 == 0 /\ -__disjvr_15^post31+__disjvr_15^0 == 0 /\ -__disjvr_8^post31+__disjvr_8^0 == 0 /\ -__disjvr_9^post31+__disjvr_9^0 == 0 /\ __disjvr_29^0-__disjvr_29^post31 == 0 /\ -len_183^post31+len_183^0 == 0 /\ __disjvr_7^0-__disjvr_7^post31 == 0 /\ __disjvr_26^0-__disjvr_26^post31 == 0 /\ __disjvr_0^0-__disjvr_0^post31 == 0 /\ -__disjvr_28^post31+__disjvr_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post31 == 0 /\ -__disjvr_17^post31+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post31 == 0 /\ __disjvr_14^0-__disjvr_14^post31 == 0 /\ -__disjvr_13^post31+__disjvr_13^0 == 0 /\ head_27^0-head_27^post31 == 0 /\ __disjvr_5^0-__disjvr_5^post31 == 0 /\ -ct_17^post31+ct_17^0 == 0 /\ -i_167^post31+i_167^0 == 0 /\ __disjvr_20^0-__disjvr_20^post31 == 0 /\ __disjvr_4^0-__disjvr_4^post31 == 0 /\ __disjvr_30^0-__disjvr_30^post31 == 0 /\ __disjvr_15^post31-__disjvr_15^0 == 0 /\ -len_132^post31+len_132^0 == 0 /\ rcd_88^0-rcd_88^post31 == 0 /\ __disjvr_21^0-__disjvr_21^post31 == 0 /\ head_32^0-head_32^post31 == 0 /\ -temp0_31^post31+temp0_31^0 == 0 /\ x_20^0-x_20^post31 == 0 /\ -__disjvr_22^post31+__disjvr_22^0 == 0), cost: 1
  32: l31 -> l32 : __disjvr_0^0'=__disjvr_0^post32, a_215^0'=a_215^post32, x_SLAM_f_18^0'=x_SLAM_f_18^post32, __disjvr_21^0'=__disjvr_21^post32, __disjvr_3^0'=__disjvr_3^post32, result_11^0'=result_11^post32, __disjvr_14^0'=__disjvr_14^post32, head_129^0'=head_129^post32, __disjvr_24^0'=__disjvr_24^post32, len_183^0'=len_183^post32, __disjvr_8^0'=__disjvr_8^post32, a_116^0'=a_116^post32, tmp_34^0'=tmp_34^post32, __disjvr_19^0'=__disjvr_19^post32, head_SLAM_f_26^0'=head_SLAM_f_26^post32, __disjvr_29^0'=__disjvr_29^post32, r_39^0'=r_39^post32, __disjvr_11^0'=__disjvr_11^post32, a_260^0'=a_260^post32, i_30^0'=i_30^post32, __disjvr_5^0'=__disjvr_5^post32, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post32, __disjvr_16^0'=__disjvr_16^post32, head_175^0'=head_175^post32, __disjvr_26^0'=__disjvr_26^post32, nondet_12^0'=nondet_12^post32, a_184^0'=a_184^post32, x_20^0'=x_20^post32, __disjvr_20^0'=__disjvr_20^post32, i_167^0'=i_167^post32, __disjvr_30^0'=__disjvr_30^post32, rcd_88^0'=rcd_88^post32, __disjvr_13^0'=__disjvr_13^post32, f_170^0'=f_170^post32, __disjvr_23^0'=__disjvr_23^post32, len_132^0'=len_132^post32, __disjvr_7^0'=__disjvr_7^post32, temp0_15^0'=temp0_15^post32, temp_35^0'=temp_35^post32, __disjvr_18^0'=__disjvr_18^post32, head_32^0'=head_32^post32, __disjvr_28^0'=__disjvr_28^post32, r_163^0'=r_163^post32, __disjvr_10^0'=__disjvr_10^post32, a_237^0'=a_237^post32, y_19^0'=y_19^post32, __disjvr_22^0'=__disjvr_22^post32, __disjvr_4^0'=__disjvr_4^post32, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32, __disjvr_15^0'=__disjvr_15^post32, head_14^0'=head_14^post32, __disjvr_25^0'=__disjvr_25^post32, length_29^0'=length_29^post32, __disjvr_9^0'=__disjvr_9^post32, a_147^0'=a_147^post32, x_16^0'=x_16^post32, __disjvr_1^0'=__disjvr_1^post32, i_108^0'=i_108^post32, __disjvr_2^0'=__disjvr_2^post32, rcd_58^0'=rcd_58^post32, __disjvr_12^0'=__disjvr_12^post32, ct_17^0'=ct_17^post32, i_94^0'=i_94^post32, __disjvr_6^0'=__disjvr_6^post32, t_23^0'=t_23^post32, temp0_31^0'=temp0_31^post32, __disjvr_17^0'=__disjvr_17^post32, head_27^0'=head_27^post32, __disjvr_27^0'=__disjvr_27^post32, r_124^0'=r_124^post32, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post32 == 0 /\ len_183^0-len_183^post32 == 0 /\ -__disjvr_12^post32+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post32 == 0 /\ len_132^0-len_132^post32 == 0 /\ -f_170^post32+f_170^0 == 0 /\ __disjvr_1^0-__disjvr_1^post32 == 0 /\ -head_27^post32+head_27^0 == 0 /\ a_260^0-a_260^post32 == 0 /\ -__disjvr_9^post32+__disjvr_9^0 == 0 /\ -i_30^post32+i_30^0 == 0 /\ -__disjvr_30^post32+__disjvr_30^0 == 0 /\ -i_108^post32+i_108^0 == 0 /\ -__disjvr_17^post32+__disjvr_17^0 == 0 /\ -__disjvr_28^post32+__disjvr_28^0 == 0 /\ -__disjvr_13^post32+__disjvr_13^0 == 0 /\ -__disjvr_19^post32+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post32 == 0 /\ tmp_34^0-tmp_34^post32 == 0 /\ __disjvr_15^0-__disjvr_15^post32 == 0 /\ -a_147^post32+a_147^0 == 0 /\ -__disjvr_2^post32+__disjvr_2^0 == 0 /\ -__disjvr_4^post32+__disjvr_4^0 == 0 /\ __disjvr_23^0-__disjvr_23^post32 == 0 /\ __disjvr_16^0-__disjvr_16^post32 == 0 /\ __disjvr_24^0-__disjvr_24^post32 == 0 /\ -r_163^post32+r_163^0 == 0 /\ -__disjvr_29^post32+__disjvr_29^0 == 0 /\ -temp0_31^post32+temp0_31^0 == 0 /\ __disjvr_0^0-__disjvr_0^post32 == 0 /\ head_175^0-head_175^post32 == 0 /\ -__disjvr_22^post32+__disjvr_22^0 == 0 /\ rcd_58^0-rcd_58^post32 == 0 /\ __disjvr_3^0-__disjvr_3^post32 == 0 /\ -__disjvr_11^post32+__disjvr_11^0 == 0 /\ temp0_15^0-temp0_15^post32 == 0 /\ nondet_12^0-nondet_12^post32 == 0 /\ -a_237^post32+a_237^0 == 0 /\ -head_32^post32+head_32^0 == 0 /\ -i_94^post32+i_94^0 == 0 /\ -__disjvr_5^post32+__disjvr_5^0 == 0 /\ -__disjvr_20^post32+__disjvr_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post32 == 0 /\ -__disjvr_25^post32+__disjvr_25^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post32 == 0 /\ rcd_88^0-rcd_88^post32 == 0 /\ -t_23^post32+t_23^0 == 0 /\ x_20^0-x_20^post32 == 0 /\ a_215^0-a_215^post32 == 0 /\ -head_129^post32+head_129^0 == 0 /\ a_184^0-a_184^post32 == 0 /\ result_11^0-result_11^post32 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ r_39^0-r_39^post32 == 0 /\ -__disjvr_26^post32+__disjvr_26^0 == 0 /\ -__disjvr_27^post32+__disjvr_27^0 == 0 /\ -y_19^post32+y_19^0 == 0 /\ temp_35^0-temp_35^post32 == 0 /\ i_167^0-i_167^post32 == 0 /\ __disjvr_8^0-__disjvr_8^post32 == 0 /\ __disjvr_18^0-__disjvr_18^post32 == 0 /\ -__disjvr_7^post32+__disjvr_7^0 == 0 /\ -__disjvr_6^post32+__disjvr_6^0 == 0 /\ -a_116^post32+a_116^0 == 0 /\ r_124^0-r_124^post32 == 0 /\ -length_29^post32+length_29^0 == 0), cost: 1
  33: l32 -> l33 : __disjvr_0^0'=__disjvr_0^post33, a_215^0'=a_215^post33, x_SLAM_f_18^0'=x_SLAM_f_18^post33, __disjvr_21^0'=__disjvr_21^post33, __disjvr_3^0'=__disjvr_3^post33, result_11^0'=result_11^post33, __disjvr_14^0'=__disjvr_14^post33, head_129^0'=head_129^post33, __disjvr_24^0'=__disjvr_24^post33, len_183^0'=len_183^post33, __disjvr_8^0'=__disjvr_8^post33, a_116^0'=a_116^post33, tmp_34^0'=tmp_34^post33, __disjvr_19^0'=__disjvr_19^post33, head_SLAM_f_26^0'=head_SLAM_f_26^post33, __disjvr_29^0'=__disjvr_29^post33, r_39^0'=r_39^post33, __disjvr_11^0'=__disjvr_11^post33, a_260^0'=a_260^post33, i_30^0'=i_30^post33, __disjvr_5^0'=__disjvr_5^post33, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post33, __disjvr_16^0'=__disjvr_16^post33, head_175^0'=head_175^post33, __disjvr_26^0'=__disjvr_26^post33, nondet_12^0'=nondet_12^post33, a_184^0'=a_184^post33, x_20^0'=x_20^post33, __disjvr_20^0'=__disjvr_20^post33, i_167^0'=i_167^post33, __disjvr_30^0'=__disjvr_30^post33, rcd_88^0'=rcd_88^post33, __disjvr_13^0'=__disjvr_13^post33, f_170^0'=f_170^post33, __disjvr_23^0'=__disjvr_23^post33, len_132^0'=len_132^post33, __disjvr_7^0'=__disjvr_7^post33, temp0_15^0'=temp0_15^post33, temp_35^0'=temp_35^post33, __disjvr_18^0'=__disjvr_18^post33, head_32^0'=head_32^post33, __disjvr_28^0'=__disjvr_28^post33, r_163^0'=r_163^post33, __disjvr_10^0'=__disjvr_10^post33, a_237^0'=a_237^post33, y_19^0'=y_19^post33, __disjvr_22^0'=__disjvr_22^post33, __disjvr_4^0'=__disjvr_4^post33, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33, __disjvr_15^0'=__disjvr_15^post33, head_14^0'=head_14^post33, __disjvr_25^0'=__disjvr_25^post33, length_29^0'=length_29^post33, __disjvr_9^0'=__disjvr_9^post33, a_147^0'=a_147^post33, x_16^0'=x_16^post33, __disjvr_1^0'=__disjvr_1^post33, i_108^0'=i_108^post33, __disjvr_2^0'=__disjvr_2^post33, rcd_58^0'=rcd_58^post33, __disjvr_12^0'=__disjvr_12^post33, ct_17^0'=ct_17^post33, i_94^0'=i_94^post33, __disjvr_6^0'=__disjvr_6^post33, t_23^0'=t_23^post33, temp0_31^0'=temp0_31^post33, __disjvr_17^0'=__disjvr_17^post33, head_27^0'=head_27^post33, __disjvr_27^0'=__disjvr_27^post33, r_124^0'=r_124^post33, (-__disjvr_1^post33+__disjvr_1^0 == 0 /\ a_147^0-a_147^post33 == 0 /\ -x_20^post33+x_20^0 == 0 /\ result_11^0-result_11^post33 == 0 /\ -head_14^post33+head_14^0 == 0 /\ -rcd_58^post33+rcd_58^0 == 0 /\ __disjvr_3^0-__disjvr_3^post33 == 0 /\ temp_35^0-temp_35^post33 == 0 /\ -r_124^post33+r_124^0 == 0 /\ -head_175^post33+head_175^0 == 0 /\ __disjvr_7^0-__disjvr_7^post33 == 0 /\ -i_94^post33+i_94^0 == 0 /\ __disjvr_0^0-__disjvr_0^post33 == 0 /\ -a_260^post33+a_260^0 == 0 /\ __disjvr_9^0-__disjvr_9^post33 == 0 /\ -t_23^post33+t_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post33 == 0 /\ -__disjvr_15^post33+__disjvr_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post33 == 0 /\ -__disjvr_17^post33+__disjvr_17^0 == 0 /\ -__disjvr_23^post33+__disjvr_23^0 == 0 /\ -__disjvr_10^post33+__disjvr_10^0 == 0 /\ __disjvr_5^0-__disjvr_5^post33 == 0 /\ -x_16^post33+x_16^0 == 0 /\ r_163^0-r_163^post33 == 0 /\ -tmp_34^post33+tmp_34^0 == 0 /\ __disjvr_13^0-__disjvr_13^post33 == 0 /\ head_129^0-head_129^post33 == 0 /\ __disjvr_30^0-__disjvr_30^post33 == 0 /\ -__disjvr_27^post33+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post33 == 0 /\ -length_29^post33+length_29^0 == 0 /\ head_32^0-head_32^post33 == 0 /\ -y_19^post33+y_19^0 == 0 /\ -__disjvr_6^post33+__disjvr_6^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post33 == 0 /\ len_183^0-len_183^post33 == 0 /\ __disjvr_11^0-__disjvr_11^post33 == 0 /\ a_215^0-a_215^post33 == 0 /\ __disjvr_28^0-__disjvr_28^post33 == 0 /\ -temp0_31^post33+temp0_31^0 == 0 /\ a_184^0-a_184^post33 == 0 /\ -__disjvr_12^post33+__disjvr_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post33 == 0 /\ -__disjvr_18^post33+__disjvr_18^0 == 0 /\ -i_108^post33+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post33+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_27^post33+head_27^0 == 0 /\ -nondet_12^post33+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post33 == 0 /\ __disjvr_14^0-__disjvr_14^post33 == 0 /\ -temp0_15^post33+temp0_15^0 == 0 /\ __disjvr_8^0-__disjvr_8^post33 == 0 /\ i_167^0-i_167^post33 == 0 /\ -r_39^post33+r_39^0 == 0 /\ i_30^0-i_30^post33 == 0 /\ -ct_17^post33+ct_17^0 == 0 /\ __disjvr_22^0-__disjvr_22^post33 == 0 /\ len_132^0-len_132^post33 == 0 /\ __disjvr_19^0-__disjvr_19^post33 == 0 /\ -rcd_88^post33+rcd_88^0 == 0 /\ -__disjvr_4^post33+__disjvr_4^0 == 0 /\ -__disjvr_16^0+__disjvr_16^post33 == 0 /\ __disjvr_24^0-__disjvr_24^post33 == 0 /\ -__disjvr_2^post33+__disjvr_2^0 == 0 /\ __disjvr_20^0-__disjvr_20^post33 == 0 /\ -a_237^post33+a_237^0 == 0 /\ a_116^0-a_116^post33 == 0 /\ f_170^0-f_170^post33 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post33 == 0 /\ __disjvr_25^0-__disjvr_25^post33 == 0), cost: 1
  34: l33 -> l34 : __disjvr_0^0'=__disjvr_0^post34, a_215^0'=a_215^post34, x_SLAM_f_18^0'=x_SLAM_f_18^post34, __disjvr_21^0'=__disjvr_21^post34, __disjvr_3^0'=__disjvr_3^post34, result_11^0'=result_11^post34, __disjvr_14^0'=__disjvr_14^post34, head_129^0'=head_129^post34, __disjvr_24^0'=__disjvr_24^post34, len_183^0'=len_183^post34, __disjvr_8^0'=__disjvr_8^post34, a_116^0'=a_116^post34, tmp_34^0'=tmp_34^post34, __disjvr_19^0'=__disjvr_19^post34, head_SLAM_f_26^0'=head_SLAM_f_26^post34, __disjvr_29^0'=__disjvr_29^post34, r_39^0'=r_39^post34, __disjvr_11^0'=__disjvr_11^post34, a_260^0'=a_260^post34, i_30^0'=i_30^post34, __disjvr_5^0'=__disjvr_5^post34, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post34, __disjvr_16^0'=__disjvr_16^post34, head_175^0'=head_175^post34, __disjvr_26^0'=__disjvr_26^post34, nondet_12^0'=nondet_12^post34, a_184^0'=a_184^post34, x_20^0'=x_20^post34, __disjvr_20^0'=__disjvr_20^post34, i_167^0'=i_167^post34, __disjvr_30^0'=__disjvr_30^post34, rcd_88^0'=rcd_88^post34, __disjvr_13^0'=__disjvr_13^post34, f_170^0'=f_170^post34, __disjvr_23^0'=__disjvr_23^post34, len_132^0'=len_132^post34, __disjvr_7^0'=__disjvr_7^post34, temp0_15^0'=temp0_15^post34, temp_35^0'=temp_35^post34, __disjvr_18^0'=__disjvr_18^post34, head_32^0'=head_32^post34, __disjvr_28^0'=__disjvr_28^post34, r_163^0'=r_163^post34, __disjvr_10^0'=__disjvr_10^post34, a_237^0'=a_237^post34, y_19^0'=y_19^post34, __disjvr_22^0'=__disjvr_22^post34, __disjvr_4^0'=__disjvr_4^post34, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34, __disjvr_15^0'=__disjvr_15^post34, head_14^0'=head_14^post34, __disjvr_25^0'=__disjvr_25^post34, length_29^0'=length_29^post34, __disjvr_9^0'=__disjvr_9^post34, a_147^0'=a_147^post34, x_16^0'=x_16^post34, __disjvr_1^0'=__disjvr_1^post34, i_108^0'=i_108^post34, __disjvr_2^0'=__disjvr_2^post34, rcd_58^0'=rcd_58^post34, __disjvr_12^0'=__disjvr_12^post34, ct_17^0'=ct_17^post34, i_94^0'=i_94^post34, __disjvr_6^0'=__disjvr_6^post34, t_23^0'=t_23^post34, temp0_31^0'=temp0_31^post34, __disjvr_17^0'=__disjvr_17^post34, head_27^0'=head_27^post34, __disjvr_27^0'=__disjvr_27^post34, r_124^0'=r_124^post34, (-temp0_31^post34+temp0_31^0 == 0 /\ -__disjvr_12^post34+__disjvr_12^0 == 0 /\ temp0_15^0-temp0_15^post34 == 0 /\ __disjvr_14^0-__disjvr_14^post34 == 0 /\ -__disjvr_9^post34+__disjvr_9^0 == 0 /\ __disjvr_2^0-__disjvr_2^post34 == 0 /\ -y_19^0 <= 0 /\ -t_23^post34+head_14^0 <= 0 /\ len_132^0-len_132^post34 == 0 /\ -__disjvr_13^post34+__disjvr_13^0 == 0 /\ -i_108^post34+i_108^0 == 0 /\ __disjvr_10^0-__disjvr_10^post34 == 0 /\ __disjvr_21^0-__disjvr_21^post34 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post34 == 0 /\ -i_167^post34+i_167^0 == 0 /\ len_183^0-len_183^post34 == 0 /\ -head_27^post34+head_27^0 == 0 /\ -i_30^post34+i_30^0 == 0 /\ x_20^0-x_20^post34 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post34 == 0 /\ nondet_12^0-nondet_12^post34 == 0 /\ -__disjvr_30^post34+__disjvr_30^0 == 0 /\ -__disjvr_4^post34+__disjvr_4^0 == 0 /\ -ct_17^post34+ct_17^0 == 0 /\ -a_237^post34+a_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post34 == 0 /\ t_23^post34-head_14^0 <= 0 /\ result_11^0-result_11^post34 == 0 /\ -a_147^post34+a_147^0 == 0 /\ -r_124^post34+r_124^0 == 0 /\ -__disjvr_25^post34+__disjvr_25^0 == 0 /\ -rcd_88^post34+rcd_88^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ head_175^0-head_175^post34 == 0 /\ -__disjvr_22^post34+__disjvr_22^0 == 0 /\ -__disjvr_28^post34+__disjvr_28^0 == 0 /\ x_20^0 <= 0 /\ -x_20^0+t_23^post34 == 0 /\ __disjvr_18^0-__disjvr_18^post34 == 0 /\ __disjvr_3^0-__disjvr_3^post34 == 0 /\ r_39^0-r_39^post34 == 0 /\ __disjvr_26^0-__disjvr_26^post34 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ __disjvr_5^0-__disjvr_5^post34 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post34 == 0 /\ -x_20^0 <= 0 /\ -head_14^post34+head_14^0 == 0 /\ -__disjvr_27^post34+__disjvr_27^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post34 == 0 /\ head_14^0-x_16^0 <= 0 /\ head_129^0-head_129^post34 == 0 /\ a_260^0-a_260^post34 == 0 /\ y_19^0 <= 0 /\ -rcd_58^post34+rcd_58^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post34 == 0 /\ -head_32^post34+head_32^0 == 0 /\ __disjvr_11^0-__disjvr_11^post34 == 0 /\ -__disjvr_1^post34+__disjvr_1^0 == 0 /\ __disjvr_20^0-__disjvr_20^post34 == 0 /\ a_116^0-a_116^post34 == 0 /\ -r_163^post34+r_163^0 == 0 /\ -i_94^post34+i_94^0 == 0 /\ tmp_34^0-tmp_34^post34 == 0 /\ -__disjvr_17^post34+__disjvr_17^0 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -__disjvr_15^post34+__disjvr_15^0 == 0 /\ -x_16^post34+x_16^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -__disjvr_16^post34+__disjvr_16^0 == 0 /\ a_215^0-a_215^post34 == 0 /\ -f_170^post34+f_170^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -a_184^post34+a_184^0 == 0 /\ -ct_17^0 <= 0 /\ __disjvr_7^0-__disjvr_7^post34 == 0 /\ __disjvr_29^0-__disjvr_29^post34 == 0 /\ -length_29^post34+length_29^0 == 0 /\ -__disjvr_8^post34+__disjvr_8^0 == 0 /\ temp_35^0-temp_35^post34 == 0 /\ -__disjvr_6^post34+__disjvr_6^0 == 0 /\ __disjvr_0^0-__disjvr_0^post34 == 0 /\ y_19^0-y_19^post34 == 0 /\ -head_SLAM_f_26^post34+head_SLAM_f_26^0 == 0), cost: 1
  35: l34 -> l35 : __disjvr_0^0'=__disjvr_0^post35, a_215^0'=a_215^post35, x_SLAM_f_18^0'=x_SLAM_f_18^post35, __disjvr_21^0'=__disjvr_21^post35, __disjvr_3^0'=__disjvr_3^post35, result_11^0'=result_11^post35, __disjvr_14^0'=__disjvr_14^post35, head_129^0'=head_129^post35, __disjvr_24^0'=__disjvr_24^post35, len_183^0'=len_183^post35, __disjvr_8^0'=__disjvr_8^post35, a_116^0'=a_116^post35, tmp_34^0'=tmp_34^post35, __disjvr_19^0'=__disjvr_19^post35, head_SLAM_f_26^0'=head_SLAM_f_26^post35, __disjvr_29^0'=__disjvr_29^post35, r_39^0'=r_39^post35, __disjvr_11^0'=__disjvr_11^post35, a_260^0'=a_260^post35, i_30^0'=i_30^post35, __disjvr_5^0'=__disjvr_5^post35, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post35, __disjvr_16^0'=__disjvr_16^post35, head_175^0'=head_175^post35, __disjvr_26^0'=__disjvr_26^post35, nondet_12^0'=nondet_12^post35, a_184^0'=a_184^post35, x_20^0'=x_20^post35, __disjvr_20^0'=__disjvr_20^post35, i_167^0'=i_167^post35, __disjvr_30^0'=__disjvr_30^post35, rcd_88^0'=rcd_88^post35, __disjvr_13^0'=__disjvr_13^post35, f_170^0'=f_170^post35, __disjvr_23^0'=__disjvr_23^post35, len_132^0'=len_132^post35, __disjvr_7^0'=__disjvr_7^post35, temp0_15^0'=temp0_15^post35, temp_35^0'=temp_35^post35, __disjvr_18^0'=__disjvr_18^post35, head_32^0'=head_32^post35, __disjvr_28^0'=__disjvr_28^post35, r_163^0'=r_163^post35, __disjvr_10^0'=__disjvr_10^post35, a_237^0'=a_237^post35, y_19^0'=y_19^post35, __disjvr_22^0'=__disjvr_22^post35, __disjvr_4^0'=__disjvr_4^post35, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35, __disjvr_15^0'=__disjvr_15^post35, head_14^0'=head_14^post35, __disjvr_25^0'=__disjvr_25^post35, length_29^0'=length_29^post35, __disjvr_9^0'=__disjvr_9^post35, a_147^0'=a_147^post35, x_16^0'=x_16^post35, __disjvr_1^0'=__disjvr_1^post35, i_108^0'=i_108^post35, __disjvr_2^0'=__disjvr_2^post35, rcd_58^0'=rcd_58^post35, __disjvr_12^0'=__disjvr_12^post35, ct_17^0'=ct_17^post35, i_94^0'=i_94^post35, __disjvr_6^0'=__disjvr_6^post35, t_23^0'=t_23^post35, temp0_31^0'=temp0_31^post35, __disjvr_17^0'=__disjvr_17^post35, head_27^0'=head_27^post35, __disjvr_27^0'=__disjvr_27^post35, r_124^0'=r_124^post35, (__disjvr_28^0-__disjvr_28^post35 == 0 /\ __disjvr_16^0-__disjvr_16^post35 == 0 /\ -__disjvr_1^post35+__disjvr_1^0 == 0 /\ -__disjvr_23^post35+__disjvr_23^0 == 0 /\ -__disjvr_20^post35+__disjvr_20^0 == 0 /\ -t_23^post35+t_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post35 == 0 /\ -rcd_58^post35+rcd_58^0 == 0 /\ -__disjvr_5^post35+__disjvr_5^0 == 0 /\ -r_163^post35+r_163^0 == 0 /\ -r_124^post35+r_124^0 == 0 /\ -head_32^post35+head_32^0 == 0 /\ i_30^0-i_30^post35 == 0 /\ __disjvr_3^0-__disjvr_3^post35 == 0 /\ i_167^0-i_167^post35 == 0 /\ -i_94^post35+i_94^0 == 0 /\ __disjvr_0^0-__disjvr_0^post35 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post35+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_19^post35+y_19^0 == 0 /\ __disjvr_14^0-__disjvr_14^post35 == 0 /\ -temp_35^post35+temp_35^0 == 0 /\ -__disjvr_15^post35+__disjvr_15^0 == 0 /\ -f_170^post35+f_170^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post35 == 0 /\ a_184^0-a_184^post35 == 0 /\ -__disjvr_6^post35+__disjvr_6^0 == 0 /\ -__disjvr_7^post35+__disjvr_7^0 == 0 /\ rcd_88^0-rcd_88^post35 == 0 /\ __disjvr_13^0-__disjvr_13^post35 == 0 /\ -__disjvr_27^post35+__disjvr_27^0 == 0 /\ x_16^0-x_16^post35 == 0 /\ -__disjvr_10^post35+__disjvr_10^0 == 0 /\ a_260^0-a_260^post35 == 0 /\ nondet_12^0-nondet_12^post35 == 0 /\ -a_116^post35+a_116^0 == 0 /\ tmp_34^0-tmp_34^post35 == 0 /\ a_215^0-a_215^post35 == 0 /\ result_11^0-result_11^post35 == 0 /\ -__disjvr_26^post35+__disjvr_26^0 == 0 /\ -i_108^post35+i_108^0 == 0 /\ __disjvr_24^0-__disjvr_24^post35 == 0 /\ __disjvr_30^0-__disjvr_30^post35 == 0 /\ len_132^0-len_132^post35 == 0 /\ -__disjvr_4^post35+__disjvr_4^0 == 0 /\ head_175^0-head_175^post35 == 0 /\ -temp0_15^post35+temp0_15^0 == 0 /\ -__disjvr_18^post35+__disjvr_18^0 == 0 /\ -head_27^post35+head_27^0 == 0 /\ r_39^0-r_39^post35 == 0 /\ -__disjvr_17^post35+__disjvr_17^0 == 0 /\ -__disjvr_12^post35+__disjvr_12^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post35 == 0 /\ __disjvr_8^0-__disjvr_8^post35 == 0 /\ len_183^0-len_183^post35 == 0 /\ -__disjvr_25^post35+__disjvr_25^0 == 0 /\ -a_147^post35+a_147^0 == 0 /\ -x_20^post35+x_20^0 == 0 /\ -__disjvr_22^post35+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post35 == 0 /\ -__disjvr_2^post35+__disjvr_2^0 == 0 /\ head_129^0-head_129^post35 == 0 /\ head_14^0-head_14^post35 == 0 /\ __disjvr_11^0-__disjvr_11^post35 == 0 /\ -ct_17^post35+ct_17^0 == 0 /\ length_29^0-length_29^post35 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post35 == 0 /\ -__disjvr_29^post35+__disjvr_29^0 == 0 /\ a_237^0-a_237^post35 == 0 /\ -temp0_31^post35+temp0_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post35 == 0 /\ __disjvr_17^post35-__disjvr_17^0 == 0), cost: 1
  36: l35 -> l36 : __disjvr_0^0'=__disjvr_0^post36, a_215^0'=a_215^post36, x_SLAM_f_18^0'=x_SLAM_f_18^post36, __disjvr_21^0'=__disjvr_21^post36, __disjvr_3^0'=__disjvr_3^post36, result_11^0'=result_11^post36, __disjvr_14^0'=__disjvr_14^post36, head_129^0'=head_129^post36, __disjvr_24^0'=__disjvr_24^post36, len_183^0'=len_183^post36, __disjvr_8^0'=__disjvr_8^post36, a_116^0'=a_116^post36, tmp_34^0'=tmp_34^post36, __disjvr_19^0'=__disjvr_19^post36, head_SLAM_f_26^0'=head_SLAM_f_26^post36, __disjvr_29^0'=__disjvr_29^post36, r_39^0'=r_39^post36, __disjvr_11^0'=__disjvr_11^post36, a_260^0'=a_260^post36, i_30^0'=i_30^post36, __disjvr_5^0'=__disjvr_5^post36, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post36, __disjvr_16^0'=__disjvr_16^post36, head_175^0'=head_175^post36, __disjvr_26^0'=__disjvr_26^post36, nondet_12^0'=nondet_12^post36, a_184^0'=a_184^post36, x_20^0'=x_20^post36, __disjvr_20^0'=__disjvr_20^post36, i_167^0'=i_167^post36, __disjvr_30^0'=__disjvr_30^post36, rcd_88^0'=rcd_88^post36, __disjvr_13^0'=__disjvr_13^post36, f_170^0'=f_170^post36, __disjvr_23^0'=__disjvr_23^post36, len_132^0'=len_132^post36, __disjvr_7^0'=__disjvr_7^post36, temp0_15^0'=temp0_15^post36, temp_35^0'=temp_35^post36, __disjvr_18^0'=__disjvr_18^post36, head_32^0'=head_32^post36, __disjvr_28^0'=__disjvr_28^post36, r_163^0'=r_163^post36, __disjvr_10^0'=__disjvr_10^post36, a_237^0'=a_237^post36, y_19^0'=y_19^post36, __disjvr_22^0'=__disjvr_22^post36, __disjvr_4^0'=__disjvr_4^post36, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36, __disjvr_15^0'=__disjvr_15^post36, head_14^0'=head_14^post36, __disjvr_25^0'=__disjvr_25^post36, length_29^0'=length_29^post36, __disjvr_9^0'=__disjvr_9^post36, a_147^0'=a_147^post36, x_16^0'=x_16^post36, __disjvr_1^0'=__disjvr_1^post36, i_108^0'=i_108^post36, __disjvr_2^0'=__disjvr_2^post36, rcd_58^0'=rcd_58^post36, __disjvr_12^0'=__disjvr_12^post36, ct_17^0'=ct_17^post36, i_94^0'=i_94^post36, __disjvr_6^0'=__disjvr_6^post36, t_23^0'=t_23^post36, temp0_31^0'=temp0_31^post36, __disjvr_17^0'=__disjvr_17^post36, head_27^0'=head_27^post36, __disjvr_27^0'=__disjvr_27^post36, r_124^0'=r_124^post36, (x_SLAM_f_18^0-x_SLAM_f_18^post36 == 0 /\ __disjvr_5^0-__disjvr_5^post36 == 0 /\ -__disjvr_13^post36+__disjvr_13^0 == 0 /\ __disjvr_18^post36-__disjvr_18^0 == 0 /\ r_163^0-r_163^post36 == 0 /\ -i_167^post36+i_167^0 == 0 /\ -__disjvr_12^post36+__disjvr_12^0 == 0 /\ temp0_15^0-temp0_15^post36 == 0 /\ head_32^0-head_32^post36 == 0 /\ head_129^0-head_129^post36 == 0 /\ nondet_12^0-nondet_12^post36 == 0 /\ __disjvr_11^0-__disjvr_11^post36 == 0 /\ -i_108^post36+i_108^0 == 0 /\ a_147^0-a_147^post36 == 0 /\ -__disjvr_17^post36+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post36 == 0 /\ __disjvr_4^0-__disjvr_4^post36 == 0 /\ a_260^0-a_260^post36 == 0 /\ -head_27^post36+head_27^0 == 0 /\ -a_237^post36+a_237^0 == 0 /\ a_215^0-a_215^post36 == 0 /\ result_11^0-result_11^post36 == 0 /\ -__disjvr_18^post36+__disjvr_18^0 == 0 /\ -ct_17^post36+ct_17^0 == 0 /\ f_170^0-f_170^post36 == 0 /\ __disjvr_29^0-__disjvr_29^post36 == 0 /\ -__disjvr_9^post36+__disjvr_9^0 == 0 /\ i_30^0-i_30^post36 == 0 /\ temp_35^0-temp_35^post36 == 0 /\ -temp0_31^post36+temp0_31^0 == 0 /\ -rcd_88^post36+rcd_88^0 == 0 /\ __disjvr_8^0-__disjvr_8^post36 == 0 /\ -__disjvr_28^post36+__disjvr_28^0 == 0 /\ -__disjvr_2^post36+__disjvr_2^0 == 0 /\ __disjvr_14^0-__disjvr_14^post36 == 0 /\ -head_14^post36+head_14^0 == 0 /\ __disjvr_22^0-__disjvr_22^post36 == 0 /\ len_183^0-len_183^post36 == 0 /\ -__disjvr_1^post36+__disjvr_1^0 == 0 /\ -rcd_58^post36+rcd_58^0 == 0 /\ -head_SLAM_f_26^post36+head_SLAM_f_26^0 == 0 /\ -length_29^post36+length_29^0 == 0 /\ __disjvr_26^0-__disjvr_26^post36 == 0 /\ __disjvr_19^0-__disjvr_19^post36 == 0 /\ -i_94^post36+i_94^0 == 0 /\ -r_124^post36+r_124^0 == 0 /\ -len_132^post36+len_132^0 == 0 /\ t_23^0-t_23^post36 == 0 /\ -tmp_34^post36+tmp_34^0 == 0 /\ __disjvr_21^0-__disjvr_21^post36 == 0 /\ -head_175^post36+head_175^0 == 0 /\ -y_19^post36+y_19^0 == 0 /\ -x_16^post36+x_16^0 == 0 /\ __disjvr_25^0-__disjvr_25^post36 == 0 /\ -a_184^post36+a_184^0 == 0 /\ a_116^0-a_116^post36 == 0 /\ -__disjvr_30^post36+__disjvr_30^0 == 0 /\ x_20^0-x_20^post36 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post36+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post36+__disjvr_15^0 == 0 /\ __disjvr_24^0-__disjvr_24^post36 == 0 /\ -__disjvr_10^post36+__disjvr_10^0 == 0 /\ -__disjvr_6^post36+__disjvr_6^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post36+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_27^post36+__disjvr_27^0 == 0 /\ __disjvr_7^0-__disjvr_7^post36 == 0 /\ -__disjvr_16^post36+__disjvr_16^0 == 0 /\ r_39^0-r_39^post36 == 0 /\ __disjvr_23^0-__disjvr_23^post36 == 0 /\ __disjvr_0^0-__disjvr_0^post36 == 0 /\ __disjvr_3^0-__disjvr_3^post36 == 0), cost: 1
  37: l36 -> l37 : __disjvr_0^0'=__disjvr_0^post37, a_215^0'=a_215^post37, x_SLAM_f_18^0'=x_SLAM_f_18^post37, __disjvr_21^0'=__disjvr_21^post37, __disjvr_3^0'=__disjvr_3^post37, result_11^0'=result_11^post37, __disjvr_14^0'=__disjvr_14^post37, head_129^0'=head_129^post37, __disjvr_24^0'=__disjvr_24^post37, len_183^0'=len_183^post37, __disjvr_8^0'=__disjvr_8^post37, a_116^0'=a_116^post37, tmp_34^0'=tmp_34^post37, __disjvr_19^0'=__disjvr_19^post37, head_SLAM_f_26^0'=head_SLAM_f_26^post37, __disjvr_29^0'=__disjvr_29^post37, r_39^0'=r_39^post37, __disjvr_11^0'=__disjvr_11^post37, a_260^0'=a_260^post37, i_30^0'=i_30^post37, __disjvr_5^0'=__disjvr_5^post37, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post37, __disjvr_16^0'=__disjvr_16^post37, head_175^0'=head_175^post37, __disjvr_26^0'=__disjvr_26^post37, nondet_12^0'=nondet_12^post37, a_184^0'=a_184^post37, x_20^0'=x_20^post37, __disjvr_20^0'=__disjvr_20^post37, i_167^0'=i_167^post37, __disjvr_30^0'=__disjvr_30^post37, rcd_88^0'=rcd_88^post37, __disjvr_13^0'=__disjvr_13^post37, f_170^0'=f_170^post37, __disjvr_23^0'=__disjvr_23^post37, len_132^0'=len_132^post37, __disjvr_7^0'=__disjvr_7^post37, temp0_15^0'=temp0_15^post37, temp_35^0'=temp_35^post37, __disjvr_18^0'=__disjvr_18^post37, head_32^0'=head_32^post37, __disjvr_28^0'=__disjvr_28^post37, r_163^0'=r_163^post37, __disjvr_10^0'=__disjvr_10^post37, a_237^0'=a_237^post37, y_19^0'=y_19^post37, __disjvr_22^0'=__disjvr_22^post37, __disjvr_4^0'=__disjvr_4^post37, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37, __disjvr_15^0'=__disjvr_15^post37, head_14^0'=head_14^post37, __disjvr_25^0'=__disjvr_25^post37, length_29^0'=length_29^post37, __disjvr_9^0'=__disjvr_9^post37, a_147^0'=a_147^post37, x_16^0'=x_16^post37, __disjvr_1^0'=__disjvr_1^post37, i_108^0'=i_108^post37, __disjvr_2^0'=__disjvr_2^post37, rcd_58^0'=rcd_58^post37, __disjvr_12^0'=__disjvr_12^post37, ct_17^0'=ct_17^post37, i_94^0'=i_94^post37, __disjvr_6^0'=__disjvr_6^post37, t_23^0'=t_23^post37, temp0_31^0'=temp0_31^post37, __disjvr_17^0'=__disjvr_17^post37, head_27^0'=head_27^post37, __disjvr_27^0'=__disjvr_27^post37, r_124^0'=r_124^post37, (0 == 0 /\ -__disjvr_28^post37+__disjvr_28^0 == 0 /\ -head_SLAM_f_26^post37+head_SLAM_f_26^0 == 0 /\ -__disjvr_2^post37+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post37 == 0 /\ x_20^0-y_19^0 <= 0 /\ -__disjvr_20^post37+__disjvr_20^0 == 0 /\ a_116^0-a_116^post37 == 0 /\ __disjvr_16^0-__disjvr_16^post37 == 0 /\ head_175^0-head_175^post37 == 0 /\ -i_94^post37+i_94^0 == 0 /\ -i_108^post37+i_108^0 == 0 /\ -__disjvr_23^post37+__disjvr_23^0 == 0 /\ i_30^0-i_30^post37 == 0 /\ __disjvr_29^0-__disjvr_29^post37 == 0 /\ -r_163^post37+r_163^0 == 0 /\ __disjvr_30^0-__disjvr_30^post37 == 0 /\ __disjvr_8^0-__disjvr_8^post37 == 0 /\ -a_147^post37+a_147^0 == 0 /\ -head_27^post37+head_27^0 == 0 /\ -x_20^0+y_19^0 <= 0 /\ -rcd_58^post37+rcd_58^0 == 0 /\ head_129^0-head_129^post37 == 0 /\ a_215^0-a_215^post37 == 0 /\ -__disjvr_6^post37+__disjvr_6^0 == 0 /\ -head_32^post37+head_32^0 == 0 /\ -f_170^post37+f_170^0 == 0 /\ -__disjvr_17^post37+__disjvr_17^0 == 0 /\ nondet_12^0-nondet_12^post37 == 0 /\ -length_29^post37+length_29^0 == 0 /\ __disjvr_13^0-__disjvr_13^post37 == 0 /\ a_260^0-a_260^post37 == 0 /\ -a_184^post37+a_184^0 == 0 /\ __disjvr_19^0-__disjvr_19^post37 == 0 /\ result_11^post37-temp0_15^0 == 0 /\ __disjvr_18^0-__disjvr_18^post37 == 0 /\ -temp0_15^post37+temp0_15^0 == 0 /\ i_167^0-i_167^post37 == 0 /\ -__disjvr_1^post37+__disjvr_1^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post37 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post37+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_39^0-r_39^post37 == 0 /\ len_132^0-len_132^post37 == 0 /\ tmp_34^0-tmp_34^post37 == 0 /\ -temp_35^post37+temp_35^0 == 0 /\ -r_124^post37+r_124^0 == 0 /\ __disjvr_7^0-__disjvr_7^post37 == 0 /\ -__disjvr_22^post37+__disjvr_22^0 == 0 /\ -__disjvr_25^post37+__disjvr_25^0 == 0 /\ -__disjvr_14^post37+__disjvr_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post37 == 0 /\ -a_237^post37+a_237^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -1+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ temp0_31^0-temp0_31^post37 == 0 /\ -__disjvr_12^post37+__disjvr_12^0 == 0 /\ __disjvr_11^0-__disjvr_11^post37 == 0 /\ __disjvr_0^0-__disjvr_0^post37 == 0 /\ __disjvr_15^0-__disjvr_15^post37 == 0 /\ -__disjvr_9^post37+__disjvr_9^0 == 0 /\ __disjvr_10^0-__disjvr_10^post37 == 0 /\ -rcd_88^post37+rcd_88^0 == 0 /\ __disjvr_24^0-__disjvr_24^post37 == 0 /\ __disjvr_3^0-__disjvr_3^post37 == 0 /\ __disjvr_4^0-__disjvr_4^post37 == 0 /\ -__disjvr_27^post37+__disjvr_27^0 == 0 /\ __disjvr_21^0-__disjvr_21^post37 == 0 /\ -len_183^post37+len_183^0 == 0), cost: 1
  38: l37 -> l1 : __disjvr_0^0'=__disjvr_0^post38, a_215^0'=a_215^post38, x_SLAM_f_18^0'=x_SLAM_f_18^post38, __disjvr_21^0'=__disjvr_21^post38, __disjvr_3^0'=__disjvr_3^post38, result_11^0'=result_11^post38, __disjvr_14^0'=__disjvr_14^post38, head_129^0'=head_129^post38, __disjvr_24^0'=__disjvr_24^post38, len_183^0'=len_183^post38, __disjvr_8^0'=__disjvr_8^post38, a_116^0'=a_116^post38, tmp_34^0'=tmp_34^post38, __disjvr_19^0'=__disjvr_19^post38, head_SLAM_f_26^0'=head_SLAM_f_26^post38, __disjvr_29^0'=__disjvr_29^post38, r_39^0'=r_39^post38, __disjvr_11^0'=__disjvr_11^post38, a_260^0'=a_260^post38, i_30^0'=i_30^post38, __disjvr_5^0'=__disjvr_5^post38, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post38, __disjvr_16^0'=__disjvr_16^post38, head_175^0'=head_175^post38, __disjvr_26^0'=__disjvr_26^post38, nondet_12^0'=nondet_12^post38, a_184^0'=a_184^post38, x_20^0'=x_20^post38, __disjvr_20^0'=__disjvr_20^post38, i_167^0'=i_167^post38, __disjvr_30^0'=__disjvr_30^post38, rcd_88^0'=rcd_88^post38, __disjvr_13^0'=__disjvr_13^post38, f_170^0'=f_170^post38, __disjvr_23^0'=__disjvr_23^post38, len_132^0'=len_132^post38, __disjvr_7^0'=__disjvr_7^post38, temp0_15^0'=temp0_15^post38, temp_35^0'=temp_35^post38, __disjvr_18^0'=__disjvr_18^post38, head_32^0'=head_32^post38, __disjvr_28^0'=__disjvr_28^post38, r_163^0'=r_163^post38, __disjvr_10^0'=__disjvr_10^post38, a_237^0'=a_237^post38, y_19^0'=y_19^post38, __disjvr_22^0'=__disjvr_22^post38, __disjvr_4^0'=__disjvr_4^post38, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38, __disjvr_15^0'=__disjvr_15^post38, head_14^0'=head_14^post38, __disjvr_25^0'=__disjvr_25^post38, length_29^0'=length_29^post38, __disjvr_9^0'=__disjvr_9^post38, a_147^0'=a_147^post38, x_16^0'=x_16^post38, __disjvr_1^0'=__disjvr_1^post38, i_108^0'=i_108^post38, __disjvr_2^0'=__disjvr_2^post38, rcd_58^0'=rcd_58^post38, __disjvr_12^0'=__disjvr_12^post38, ct_17^0'=ct_17^post38, i_94^0'=i_94^post38, __disjvr_6^0'=__disjvr_6^post38, t_23^0'=t_23^post38, temp0_31^0'=temp0_31^post38, __disjvr_17^0'=__disjvr_17^post38, head_27^0'=head_27^post38, __disjvr_27^0'=__disjvr_27^post38, r_124^0'=r_124^post38, (__disjvr_3^0-__disjvr_3^post38 == 0 /\ -__disjvr_10^post38+__disjvr_10^0 == 0 /\ -__disjvr_19^0+__disjvr_19^post38 == 0 /\ __disjvr_14^0-__disjvr_14^post38 == 0 /\ -temp_35^post38+temp_35^0 == 0 /\ -__disjvr_12^post38+__disjvr_12^0 == 0 /\ -temp0_31^post38+temp0_31^0 == 0 /\ -__disjvr_16^post38+__disjvr_16^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post38+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_28^0-__disjvr_28^post38 == 0 /\ temp0_15^0-temp0_15^post38 == 0 /\ -x_16^post38+x_16^0 == 0 /\ __disjvr_13^0-__disjvr_13^post38 == 0 /\ a_237^0-a_237^post38 == 0 /\ -rcd_88^post38+rcd_88^0 == 0 /\ __disjvr_29^0-__disjvr_29^post38 == 0 /\ i_30^0-i_30^post38 == 0 /\ -head_SLAM_f_26^post38+head_SLAM_f_26^0 == 0 /\ -r_124^post38+r_124^0 == 0 /\ __disjvr_0^0-__disjvr_0^post38 == 0 /\ head_175^0-head_175^post38 == 0 /\ nondet_12^0-nondet_12^post38 == 0 /\ __disjvr_9^0-__disjvr_9^post38 == 0 /\ result_11^0-result_11^post38 == 0 /\ __disjvr_19^0-__disjvr_19^post38 == 0 /\ -__disjvr_18^post38+__disjvr_18^0 == 0 /\ __disjvr_8^0-__disjvr_8^post38 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post38 == 0 /\ -i_108^post38+i_108^0 == 0 /\ -ct_17^post38+ct_17^0 == 0 /\ i_167^0-i_167^post38 == 0 /\ a_116^0-a_116^post38 == 0 /\ __disjvr_24^0-__disjvr_24^post38 == 0 /\ -__disjvr_25^post38+__disjvr_25^0 == 0 /\ -head_27^post38+head_27^0 == 0 /\ -__disjvr_23^post38+__disjvr_23^0 == 0 /\ -__disjvr_2^post38+__disjvr_2^0 == 0 /\ __disjvr_6^0-__disjvr_6^post38 == 0 /\ r_39^0-r_39^post38 == 0 /\ a_260^0-a_260^post38 == 0 /\ __disjvr_22^0-__disjvr_22^post38 == 0 /\ -i_94^post38+i_94^0 == 0 /\ -t_23^post38+t_23^0 == 0 /\ __disjvr_7^0-__disjvr_7^post38 == 0 /\ tmp_34^0-tmp_34^post38 == 0 /\ a_215^0-a_215^post38 == 0 /\ __disjvr_26^0-__disjvr_26^post38 == 0 /\ __disjvr_4^0-__disjvr_4^post38 == 0 /\ __disjvr_5^0-__disjvr_5^post38 == 0 /\ -a_147^post38+a_147^0 == 0 /\ -a_184^post38+a_184^0 == 0 /\ head_14^0-head_14^post38 == 0 /\ __disjvr_20^0-__disjvr_20^post38 == 0 /\ -__disjvr_27^post38+__disjvr_27^0 == 0 /\ length_29^0-length_29^post38 == 0 /\ -rcd_58^post38+rcd_58^0 == 0 /\ __disjvr_11^0-__disjvr_11^post38 == 0 /\ -__disjvr_1^post38+__disjvr_1^0 == 0 /\ head_129^0-head_129^post38 == 0 /\ -head_32^post38+head_32^0 == 0 /\ __disjvr_30^0-__disjvr_30^post38 == 0 /\ __disjvr_21^0-__disjvr_21^post38 == 0 /\ -y_19^post38+y_19^0 == 0 /\ f_170^0-f_170^post38 == 0 /\ -r_163^post38+r_163^0 == 0 /\ len_183^0-len_183^post38 == 0 /\ -__disjvr_15^post38+__disjvr_15^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post38+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_17^post38+__disjvr_17^0 == 0 /\ x_20^0-x_20^post38 == 0 /\ len_132^0-len_132^post38 == 0), cost: 1
  65: l38 -> l63 : __disjvr_0^0'=__disjvr_0^post65, a_215^0'=a_215^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, __disjvr_21^0'=__disjvr_21^post65, __disjvr_3^0'=__disjvr_3^post65, result_11^0'=result_11^post65, __disjvr_14^0'=__disjvr_14^post65, head_129^0'=head_129^post65, __disjvr_24^0'=__disjvr_24^post65, len_183^0'=len_183^post65, __disjvr_8^0'=__disjvr_8^post65, a_116^0'=a_116^post65, tmp_34^0'=tmp_34^post65, __disjvr_19^0'=__disjvr_19^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, __disjvr_29^0'=__disjvr_29^post65, r_39^0'=r_39^post65, __disjvr_11^0'=__disjvr_11^post65, a_260^0'=a_260^post65, i_30^0'=i_30^post65, __disjvr_5^0'=__disjvr_5^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_16^0'=__disjvr_16^post65, head_175^0'=head_175^post65, __disjvr_26^0'=__disjvr_26^post65, nondet_12^0'=nondet_12^post65, a_184^0'=a_184^post65, x_20^0'=x_20^post65, __disjvr_20^0'=__disjvr_20^post65, i_167^0'=i_167^post65, __disjvr_30^0'=__disjvr_30^post65, rcd_88^0'=rcd_88^post65, __disjvr_13^0'=__disjvr_13^post65, f_170^0'=f_170^post65, __disjvr_23^0'=__disjvr_23^post65, len_132^0'=len_132^post65, __disjvr_7^0'=__disjvr_7^post65, temp0_15^0'=temp0_15^post65, temp_35^0'=temp_35^post65, __disjvr_18^0'=__disjvr_18^post65, head_32^0'=head_32^post65, __disjvr_28^0'=__disjvr_28^post65, r_163^0'=r_163^post65, __disjvr_10^0'=__disjvr_10^post65, a_237^0'=a_237^post65, y_19^0'=y_19^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_4^0'=__disjvr_4^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, __disjvr_15^0'=__disjvr_15^post65, head_14^0'=head_14^post65, __disjvr_25^0'=__disjvr_25^post65, length_29^0'=length_29^post65, __disjvr_9^0'=__disjvr_9^post65, a_147^0'=a_147^post65, x_16^0'=x_16^post65, __disjvr_1^0'=__disjvr_1^post65, i_108^0'=i_108^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_58^0'=rcd_58^post65, __disjvr_12^0'=__disjvr_12^post65, ct_17^0'=ct_17^post65, i_94^0'=i_94^post65, __disjvr_6^0'=__disjvr_6^post65, t_23^0'=t_23^post65, temp0_31^0'=temp0_31^post65, __disjvr_17^0'=__disjvr_17^post65, head_27^0'=head_27^post65, __disjvr_27^0'=__disjvr_27^post65, r_124^0'=r_124^post65, (0 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ -head_27^post65+head_14^post65 <= 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ head_175^0-head_175^post65 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -head_27^post65+head_SLAM_f_26^post65 <= 0 /\ -x_16^post65+x_16^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ y_19^0-y_19^post65 == 0 /\ -head_14^post65+head_SLAM_f_26^post65 <= 0 /\ -head_14^post65+head_SLAM_f_26^post65 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ result_11^11-temp0_31^110 == 0 /\ a_147^0-a_147^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ len_132^0-len_132^post65 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ -r_124^post65+r_124^0 == 0 /\ head_27^post65-head_14^post65 <= 0 /\ head_27^post65-head_SLAM_f_26^post65 <= 0 /\ head_27^post65-head_SLAM_f_26^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ -len_132^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ head_14^post65-head_SLAM_f_26^post65 <= 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -f_170^post65+f_170^0 == 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ -r_163^post65+r_163^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ head_14^post65-result_11^11 == 0 /\ -__disjvr_4^post65+__disjvr_4^0 == 0 /\ head_129^0-head_129^post65 == 0 /\ len_132^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post65 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ a_215^0-a_215^post65 == 0 /\ a_116^0-a_116^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -len_183^post65+len_183^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -i_94^post65+i_94^0 == 0 /\ -i_108^post65+i_108^0 == 0 /\ x_20^0-x_20^post65 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -a_237^post65+a_237^0 == 0 /\ i_30^post65-a_147^0 <= 0 /\ a_260^0-a_260^post65 == 0 /\ -i_30^0+length_29^0 <= 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ -i_30^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ -__disjvr_9^post65+__disjvr_9^0 == 0 /\ a_184^0-a_184^post65 == 0 /\ -__disjvr_20^post65+__disjvr_20^0 == 0 /\ __disjvr_5^0-__disjvr_5^post65 == 0 /\ -rcd_58^post65+rcd_58^0 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ -i_30^post65+a_147^0 <= 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ -t_23^post65+t_23^0 == 0), cost: 1
  68: l38 -> l65 : __disjvr_0^0'=__disjvr_0^post68, a_215^0'=a_215^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, __disjvr_21^0'=__disjvr_21^post68, __disjvr_3^0'=__disjvr_3^post68, result_11^0'=result_11^post68, __disjvr_14^0'=__disjvr_14^post68, head_129^0'=head_129^post68, __disjvr_24^0'=__disjvr_24^post68, len_183^0'=len_183^post68, __disjvr_8^0'=__disjvr_8^post68, a_116^0'=a_116^post68, tmp_34^0'=tmp_34^post68, __disjvr_19^0'=__disjvr_19^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, __disjvr_29^0'=__disjvr_29^post68, r_39^0'=r_39^post68, __disjvr_11^0'=__disjvr_11^post68, a_260^0'=a_260^post68, i_30^0'=i_30^post68, __disjvr_5^0'=__disjvr_5^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_16^0'=__disjvr_16^post68, head_175^0'=head_175^post68, __disjvr_26^0'=__disjvr_26^post68, nondet_12^0'=nondet_12^post68, a_184^0'=a_184^post68, x_20^0'=x_20^post68, __disjvr_20^0'=__disjvr_20^post68, i_167^0'=i_167^post68, __disjvr_30^0'=__disjvr_30^post68, rcd_88^0'=rcd_88^post68, __disjvr_13^0'=__disjvr_13^post68, f_170^0'=f_170^post68, __disjvr_23^0'=__disjvr_23^post68, len_132^0'=len_132^post68, __disjvr_7^0'=__disjvr_7^post68, temp0_15^0'=temp0_15^post68, temp_35^0'=temp_35^post68, __disjvr_18^0'=__disjvr_18^post68, head_32^0'=head_32^post68, __disjvr_28^0'=__disjvr_28^post68, r_163^0'=r_163^post68, __disjvr_10^0'=__disjvr_10^post68, a_237^0'=a_237^post68, y_19^0'=y_19^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_4^0'=__disjvr_4^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, __disjvr_15^0'=__disjvr_15^post68, head_14^0'=head_14^post68, __disjvr_25^0'=__disjvr_25^post68, length_29^0'=length_29^post68, __disjvr_9^0'=__disjvr_9^post68, a_147^0'=a_147^post68, x_16^0'=x_16^post68, __disjvr_1^0'=__disjvr_1^post68, i_108^0'=i_108^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_58^0'=rcd_58^post68, __disjvr_12^0'=__disjvr_12^post68, ct_17^0'=ct_17^post68, i_94^0'=i_94^post68, __disjvr_6^0'=__disjvr_6^post68, t_23^0'=t_23^post68, temp0_31^0'=temp0_31^post68, __disjvr_17^0'=__disjvr_17^post68, head_27^0'=head_27^post68, __disjvr_27^0'=__disjvr_27^post68, r_124^0'=r_124^post68, (0 == 0 /\ a_184^0-a_184^post68 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ -x_20^post68+x_20^0 == 0 /\ -x_16^post68+x_16^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ a_215^0-a_215^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ 1+i_94^post68-i_30^post68 <= 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ -a_237^post68+a_237^0 == 0 /\ -tmp_34^post68+head_32^post68 == 0 /\ len_132^0-len_132^post68 == 0 /\ head_175^0-head_175^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ -__disjvr_9^post68+__disjvr_9^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ tmp_34^post68-temp_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ a_260^0-a_260^post68 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ -t_23^post68+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ -f_170^post68+f_170^0 == 0 /\ -a_147^post68+a_147^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post68+a_116^0 == 0 /\ -head_27^post68+head_27^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -head_14^post68+head_14^0 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -1-i_30^0+i_30^post68 == 0 /\ r_39^0-r_39^post68 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -1-i_94^post68+i_30^post68 <= 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ 1-length_29^0+i_94^post68 <= 0 /\ -r_163^post68+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ y_19^0-y_19^post68 == 0 /\ -i_30^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ head_129^0-head_129^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ -__disjvr_19^post68+__disjvr_19^0 == 0 /\ __disjvr_30^0-__disjvr_30^post68 == 0 /\ -__disjvr_29^post68+__disjvr_29^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -__disjvr_4^post68+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ __disjvr_27^0-__disjvr_27^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ len_183^0-len_183^post68 == 0 /\ -i_167^post68+i_167^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0), cost: 1
  40: l39 -> l40 : __disjvr_0^0'=__disjvr_0^post40, a_215^0'=a_215^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, __disjvr_21^0'=__disjvr_21^post40, __disjvr_3^0'=__disjvr_3^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, head_129^0'=head_129^post40, __disjvr_24^0'=__disjvr_24^post40, len_183^0'=len_183^post40, __disjvr_8^0'=__disjvr_8^post40, a_116^0'=a_116^post40, tmp_34^0'=tmp_34^post40, __disjvr_19^0'=__disjvr_19^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, __disjvr_29^0'=__disjvr_29^post40, r_39^0'=r_39^post40, __disjvr_11^0'=__disjvr_11^post40, a_260^0'=a_260^post40, i_30^0'=i_30^post40, __disjvr_5^0'=__disjvr_5^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_16^0'=__disjvr_16^post40, head_175^0'=head_175^post40, __disjvr_26^0'=__disjvr_26^post40, nondet_12^0'=nondet_12^post40, a_184^0'=a_184^post40, x_20^0'=x_20^post40, __disjvr_20^0'=__disjvr_20^post40, i_167^0'=i_167^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_88^0'=rcd_88^post40, __disjvr_13^0'=__disjvr_13^post40, f_170^0'=f_170^post40, __disjvr_23^0'=__disjvr_23^post40, len_132^0'=len_132^post40, __disjvr_7^0'=__disjvr_7^post40, temp0_15^0'=temp0_15^post40, temp_35^0'=temp_35^post40, __disjvr_18^0'=__disjvr_18^post40, head_32^0'=head_32^post40, __disjvr_28^0'=__disjvr_28^post40, r_163^0'=r_163^post40, __disjvr_10^0'=__disjvr_10^post40, a_237^0'=a_237^post40, y_19^0'=y_19^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_4^0'=__disjvr_4^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, __disjvr_15^0'=__disjvr_15^post40, head_14^0'=head_14^post40, __disjvr_25^0'=__disjvr_25^post40, length_29^0'=length_29^post40, __disjvr_9^0'=__disjvr_9^post40, a_147^0'=a_147^post40, x_16^0'=x_16^post40, __disjvr_1^0'=__disjvr_1^post40, i_108^0'=i_108^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_58^0'=rcd_58^post40, __disjvr_12^0'=__disjvr_12^post40, ct_17^0'=ct_17^post40, i_94^0'=i_94^post40, __disjvr_6^0'=__disjvr_6^post40, t_23^0'=t_23^post40, temp0_31^0'=temp0_31^post40, __disjvr_17^0'=__disjvr_17^post40, head_27^0'=head_27^post40, __disjvr_27^0'=__disjvr_27^post40, r_124^0'=r_124^post40, (0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -__disjvr_6^post40+__disjvr_6^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ -y_19^post40+y_19^0 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_29^post40 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_29^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ -head_32^post40 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_129^0-head_129^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ rcd_88^0-rcd_88^post40 == 0 /\ -__disjvr_9^post40+__disjvr_9^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ -f_170^post40+f_170^0 == 0 /\ -a_147^post40+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ -ct_17^post40+ct_17^0 == 0 /\ a_215^0-a_215^post40 == 0 /\ a_184^0-a_184^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -__disjvr_4^post40+__disjvr_4^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_29^post40 <= 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ len_183^0-len_183^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -x_20^post40+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -r_163^post40+r_163^0 == 0 /\ __disjvr_30^0-__disjvr_30^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ -r_124^post40+r_124^0 == 0 /\ a_237^0-a_237^post40 == 0 /\ -__disjvr_25^post40+__disjvr_25^0 == 0 /\ -i_94^post40+i_94^0 == 0 /\ head_14^0-head_14^post40 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -a_260^post40+a_260^0 == 0 /\ head_32^post40 <= 0 /\ head_32^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-nondet_12^10 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ i_30^post40 <= 0 /\ i_30^post40 == 0 /\ -head_27^post40+head_27^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ i_167^0-i_167^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ a_116^0-a_116^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -i_30^post40 <= 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ head_175^0-head_175^post40 == 0), cost: 1
  70: l40 -> l1 : __disjvr_0^0'=__disjvr_0^post70, a_215^0'=a_215^post70, x_SLAM_f_18^0'=x_SLAM_f_18^post70, __disjvr_21^0'=__disjvr_21^post70, __disjvr_3^0'=__disjvr_3^post70, result_11^0'=result_11^post70, __disjvr_14^0'=__disjvr_14^post70, head_129^0'=head_129^post70, __disjvr_24^0'=__disjvr_24^post70, len_183^0'=len_183^post70, __disjvr_8^0'=__disjvr_8^post70, a_116^0'=a_116^post70, tmp_34^0'=tmp_34^post70, __disjvr_19^0'=__disjvr_19^post70, head_SLAM_f_26^0'=head_SLAM_f_26^post70, __disjvr_29^0'=__disjvr_29^post70, r_39^0'=r_39^post70, __disjvr_11^0'=__disjvr_11^post70, a_260^0'=a_260^post70, i_30^0'=i_30^post70, __disjvr_5^0'=__disjvr_5^post70, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post70, __disjvr_16^0'=__disjvr_16^post70, head_175^0'=head_175^post70, __disjvr_26^0'=__disjvr_26^post70, nondet_12^0'=nondet_12^post70, a_184^0'=a_184^post70, x_20^0'=x_20^post70, __disjvr_20^0'=__disjvr_20^post70, i_167^0'=i_167^post70, __disjvr_30^0'=__disjvr_30^post70, rcd_88^0'=rcd_88^post70, __disjvr_13^0'=__disjvr_13^post70, f_170^0'=f_170^post70, __disjvr_23^0'=__disjvr_23^post70, len_132^0'=len_132^post70, __disjvr_7^0'=__disjvr_7^post70, temp0_15^0'=temp0_15^post70, temp_35^0'=temp_35^post70, __disjvr_18^0'=__disjvr_18^post70, head_32^0'=head_32^post70, __disjvr_28^0'=__disjvr_28^post70, r_163^0'=r_163^post70, __disjvr_10^0'=__disjvr_10^post70, a_237^0'=a_237^post70, y_19^0'=y_19^post70, __disjvr_22^0'=__disjvr_22^post70, __disjvr_4^0'=__disjvr_4^post70, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post70, __disjvr_15^0'=__disjvr_15^post70, head_14^0'=head_14^post70, __disjvr_25^0'=__disjvr_25^post70, length_29^0'=length_29^post70, __disjvr_9^0'=__disjvr_9^post70, a_147^0'=a_147^post70, x_16^0'=x_16^post70, __disjvr_1^0'=__disjvr_1^post70, i_108^0'=i_108^post70, __disjvr_2^0'=__disjvr_2^post70, rcd_58^0'=rcd_58^post70, __disjvr_12^0'=__disjvr_12^post70, ct_17^0'=ct_17^post70, i_94^0'=i_94^post70, __disjvr_6^0'=__disjvr_6^post70, t_23^0'=t_23^post70, temp0_31^0'=temp0_31^post70, __disjvr_17^0'=__disjvr_17^post70, head_27^0'=head_27^post70, __disjvr_27^0'=__disjvr_27^post70, r_124^0'=r_124^post70, (0 == 0 /\ __disjvr_0^0-__disjvr_0^post70 == 0 /\ temp0_15^0-temp0_15^post70 == 0 /\ __disjvr_11^0-__disjvr_11^post70 == 0 /\ x_20^130-y_19^130 <= 0 /\ -x_SLAM_f_18^130 <= 0 /\ result_11^120-temp0_31^120 == 0 /\ x_16^10 <= 0 /\ -__disjvr_6^post70+__disjvr_6^0 == 0 /\ x_20^130 <= 0 /\ -rcd_58^post70+rcd_58^0 == 0 /\ __disjvr_13^0-__disjvr_13^post70 == 0 /\ x_SLAM_f_18^130 <= 0 /\ -head_14^post70+head_SLAM_f_26^110 <= 0 /\ -head_14^post70+head_SLAM_f_26^110 == 0 /\ __disjvr_19^0-__disjvr_19^post70 == 0 /\ x_16^10-head_14^post70 <= 0 /\ x_16^10-head_14^post70 == 0 /\ head_14^post70-result_11^120 == 0 /\ -ct_17^13 <= 0 /\ head_175^0-head_175^post70 == 0 /\ head_129^0-head_129^post70 == 0 /\ ct_17^13 <= 0 /\ ct_17^13 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post70 <= 0 /\ head_SLAM_f_26^110-head_27^10 <= 0 /\ i_167^0-i_167^post70 == 0 /\ -__disjvr_27^post70+__disjvr_27^0 == 0 /\ -rcd_88^post70+rcd_88^0 == 0 /\ -x_20^130+y_19^130 <= 0 /\ __disjvr_3^0-__disjvr_3^post70 == 0 /\ y_19^130 <= 0 /\ -temp0_15^0+result_11^post70 == 0 /\ head_14^post70 <= 0 /\ a_260^0-a_260^post70 == 0 /\ i_108^0-i_108^post70 == 0 /\ head_SLAM_f_26^110 <= 0 /\ -x_20^130 <= 0 /\ head_14^post70-head_SLAM_f_26^110 <= 0 /\ __disjvr_10^0-__disjvr_10^post70 == 0 /\ -nondet_12^post70+nondet_12^0 == 0 /\ -x_16^10+head_14^post70 <= 0 /\ -x_16^10 <= 0 /\ -head_SLAM_f_26^110+head_27^10 <= 0 /\ -head_SLAM_f_26^110+head_27^10 == 0 /\ __disjvr_30^0-__disjvr_30^post70 == 0 /\ a_116^0-a_116^post70 == 0 /\ -__disjvr_23^post70+__disjvr_23^0 == 0 /\ __disjvr_26^0-__disjvr_26^post70 == 0 /\ __disjvr_21^0-__disjvr_21^post70 == 0 /\ __disjvr_20^0-__disjvr_20^post70 == 0 /\ __disjvr_14^0-__disjvr_14^post70 == 0 /\ -a_237^post70+a_237^0 == 0 /\ -a_147^post70+a_147^0 == 0 /\ __disjvr_29^0-__disjvr_29^post70 == 0 /\ len_183^0-len_183^post70 == 0 /\ -x_20^130+x_SLAM_f_18^130 <= 0 /\ -__disjvr_2^post70+__disjvr_2^0 == 0 /\ ct_17^13-y_19^130 <= 0 /\ -__disjvr_9^post70+__disjvr_9^0 == 0 /\ __disjvr_4^0-__disjvr_4^post70 == 0 /\ a_184^0-a_184^post70 == 0 /\ -__disjvr_25^post70+__disjvr_25^0 == 0 /\ -__disjvr_1^post70+__disjvr_1^0 == 0 /\ -x_16^10+x_SLAM_f_18^130 <= 0 /\ -x_16^10+x_SLAM_f_18^130 == 0 /\ -__disjvr_28^post70+__disjvr_28^0 == 0 /\ -head_14^post70 <= 0 /\ -__disjvr_12^post70+__disjvr_12^0 == 0 /\ -__disjvr_16^post70+__disjvr_16^0 == 0 /\ -y_19^130 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^20 <= 0 /\ -i_30^0+length_29^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post70 == 0 /\ __disjvr_15^0-__disjvr_15^post70 == 0 /\ -r_124^post70+r_124^0 == 0 /\ -head_32^0+temp0_31^120 == 0 /\ r_163^0-r_163^post70 == 0 /\ head_27^10 <= 0 /\ f_170^0-f_170^post70 == 0 /\ __disjvr_18^0-__disjvr_18^post70 == 0 /\ a_215^0-a_215^post70 == 0 /\ x_20^130-x_SLAM_f_18^130 <= 0 /\ x_20^130-x_SLAM_f_18^130 == 0 /\ -head_SLAM_f_26^110 <= 0 /\ __disjvr_22^0-__disjvr_22^post70 == 0 /\ -__disjvr_17^post70+__disjvr_17^0 == 0 /\ -ct_17^13+y_19^130 <= 0 /\ -ct_17^13+y_19^130 == 0 /\ __disjvr_7^0-__disjvr_7^post70 == 0 /\ r_39^0-r_39^post70 == 0 /\ len_132^0-len_132^post70 == 0 /\ -head_27^10 <= 0 /\ __disjvr_8^0-__disjvr_8^post70 == 0 /\ -i_94^post70+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^110 <= 0 /\ x_16^10-x_SLAM_f_18^130 <= 0 /\ __disjvr_5^0-__disjvr_5^post70 == 0), cost: 1
  71: l40 -> l25 : __disjvr_0^0'=__disjvr_0^post71, a_215^0'=a_215^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, __disjvr_21^0'=__disjvr_21^post71, __disjvr_3^0'=__disjvr_3^post71, result_11^0'=result_11^post71, __disjvr_14^0'=__disjvr_14^post71, head_129^0'=head_129^post71, __disjvr_24^0'=__disjvr_24^post71, len_183^0'=len_183^post71, __disjvr_8^0'=__disjvr_8^post71, a_116^0'=a_116^post71, tmp_34^0'=tmp_34^post71, __disjvr_19^0'=__disjvr_19^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, __disjvr_29^0'=__disjvr_29^post71, r_39^0'=r_39^post71, __disjvr_11^0'=__disjvr_11^post71, a_260^0'=a_260^post71, i_30^0'=i_30^post71, __disjvr_5^0'=__disjvr_5^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_16^0'=__disjvr_16^post71, head_175^0'=head_175^post71, __disjvr_26^0'=__disjvr_26^post71, nondet_12^0'=nondet_12^post71, a_184^0'=a_184^post71, x_20^0'=x_20^post71, __disjvr_20^0'=__disjvr_20^post71, i_167^0'=i_167^post71, __disjvr_30^0'=__disjvr_30^post71, rcd_88^0'=rcd_88^post71, __disjvr_13^0'=__disjvr_13^post71, f_170^0'=f_170^post71, __disjvr_23^0'=__disjvr_23^post71, len_132^0'=len_132^post71, __disjvr_7^0'=__disjvr_7^post71, temp0_15^0'=temp0_15^post71, temp_35^0'=temp_35^post71, __disjvr_18^0'=__disjvr_18^post71, head_32^0'=head_32^post71, __disjvr_28^0'=__disjvr_28^post71, r_163^0'=r_163^post71, __disjvr_10^0'=__disjvr_10^post71, a_237^0'=a_237^post71, y_19^0'=y_19^post71, __disjvr_22^0'=__disjvr_22^post71, __disjvr_4^0'=__disjvr_4^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, __disjvr_15^0'=__disjvr_15^post71, head_14^0'=head_14^post71, __disjvr_25^0'=__disjvr_25^post71, length_29^0'=length_29^post71, __disjvr_9^0'=__disjvr_9^post71, a_147^0'=a_147^post71, x_16^0'=x_16^post71, __disjvr_1^0'=__disjvr_1^post71, i_108^0'=i_108^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_58^0'=rcd_58^post71, __disjvr_12^0'=__disjvr_12^post71, ct_17^0'=ct_17^post71, i_94^0'=i_94^post71, __disjvr_6^0'=__disjvr_6^post71, t_23^0'=t_23^post71, temp0_31^0'=temp0_31^post71, __disjvr_17^0'=__disjvr_17^post71, head_27^0'=head_27^post71, __disjvr_27^0'=__disjvr_27^post71, r_124^0'=r_124^post71, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post71 == 0 /\ a_215^0-a_215^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ a_116^0-a_116^post71 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71-head_32^post71 <= 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -len_132^post71+len_132^0 == 0 /\ -__disjvr_20^post71+__disjvr_20^0 == 0 /\ -r_124^post71+r_124^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post71 == 0 /\ i_167^0-i_167^post71 == 0 /\ __disjvr_30^0-__disjvr_30^post71 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ -head_175^post71+head_175^0 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ a_260^0-a_260^post71 == 0 /\ -a_184^post71+a_184^0 == 0 /\ __disjvr_7^0-__disjvr_7^post71 == 0 /\ r_163^0-r_163^post71 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+head_32^post71 <= 0 /\ -temp_35^0+tmp_34^post71 == 0 /\ __disjvr_19^0-__disjvr_19^post71 == 0 /\ head_129^0-head_129^post71 == 0 /\ x_16^0-x_16^post71 == 0 /\ -y_19^post71+y_19^0 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ -1-i_30^0+i_30^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71-tmp_34^post71 <= 0 /\ -temp0_15^post71+temp0_15^0 == 0 /\ __disjvr_28^0-__disjvr_28^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -__disjvr_13^post71+__disjvr_13^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+length_29^0 <= 0 /\ -temp0_31^post71+temp0_31^0 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ f_170^0-f_170^post71 == 0 /\ -rcd_88^post71+rcd_88^0 == 0 /\ x_20^0-x_20^post71 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ -__disjvr_18^post71+__disjvr_18^0 == 0 /\ -i_108^post71+i_108^0 == 0 /\ 1-i_30^post71 <= 0 /\ -1+i_30^post71 <= 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ head_32^post71-tmp_34^post71 <= 0 /\ head_32^post71-tmp_34^post71 == 0 /\ -ct_17^post71+ct_17^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+tmp_34^post71 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post71-length_29^0 <= 0 /\ length_29^0-length_29^post71 == 0 /\ -a_147^post71+a_147^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ head_14^0-head_14^post71 == 0 /\ len_183^0-len_183^post71 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ -__disjvr_9^post71+__disjvr_9^0 == 0 /\ a_237^0-a_237^post71 == 0 /\ -__disjvr_22^post71+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -head_32^post71+tmp_34^post71 <= 0), cost: 1
  41: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post41, a_215^0'=a_215^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, __disjvr_21^0'=__disjvr_21^post41, __disjvr_3^0'=__disjvr_3^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, head_129^0'=head_129^post41, __disjvr_24^0'=__disjvr_24^post41, len_183^0'=len_183^post41, __disjvr_8^0'=__disjvr_8^post41, a_116^0'=a_116^post41, tmp_34^0'=tmp_34^post41, __disjvr_19^0'=__disjvr_19^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, __disjvr_29^0'=__disjvr_29^post41, r_39^0'=r_39^post41, __disjvr_11^0'=__disjvr_11^post41, a_260^0'=a_260^post41, i_30^0'=i_30^post41, __disjvr_5^0'=__disjvr_5^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_16^0'=__disjvr_16^post41, head_175^0'=head_175^post41, __disjvr_26^0'=__disjvr_26^post41, nondet_12^0'=nondet_12^post41, a_184^0'=a_184^post41, x_20^0'=x_20^post41, __disjvr_20^0'=__disjvr_20^post41, i_167^0'=i_167^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_88^0'=rcd_88^post41, __disjvr_13^0'=__disjvr_13^post41, f_170^0'=f_170^post41, __disjvr_23^0'=__disjvr_23^post41, len_132^0'=len_132^post41, __disjvr_7^0'=__disjvr_7^post41, temp0_15^0'=temp0_15^post41, temp_35^0'=temp_35^post41, __disjvr_18^0'=__disjvr_18^post41, head_32^0'=head_32^post41, __disjvr_28^0'=__disjvr_28^post41, r_163^0'=r_163^post41, __disjvr_10^0'=__disjvr_10^post41, a_237^0'=a_237^post41, y_19^0'=y_19^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_4^0'=__disjvr_4^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, __disjvr_15^0'=__disjvr_15^post41, head_14^0'=head_14^post41, __disjvr_25^0'=__disjvr_25^post41, length_29^0'=length_29^post41, __disjvr_9^0'=__disjvr_9^post41, a_147^0'=a_147^post41, x_16^0'=x_16^post41, __disjvr_1^0'=__disjvr_1^post41, i_108^0'=i_108^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_58^0'=rcd_58^post41, __disjvr_12^0'=__disjvr_12^post41, ct_17^0'=ct_17^post41, i_94^0'=i_94^post41, __disjvr_6^0'=__disjvr_6^post41, t_23^0'=t_23^post41, temp0_31^0'=temp0_31^post41, __disjvr_17^0'=__disjvr_17^post41, head_27^0'=head_27^post41, __disjvr_27^0'=__disjvr_27^post41, r_124^0'=r_124^post41, (0 == 0 /\ a_215^0-a_215^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -head_175^post41+head_175^0 == 0 /\ -head_14^post41+head_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ x_SLAM_f_18^post41-x_20^post41 <= 0 /\ -t_23^post41+t_23^0 == 0 /\ -rcd_58^post41+rcd_58^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -ct_17^post41 <= 0 /\ -i_94^post41+i_94^0 == 0 /\ ct_17^post41 <= 0 /\ ct_17^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ r_163^0-r_163^post41 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -len_132^0 <= 0 /\ -a_184^post41+a_184^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -x_SLAM_f_18^post41+x_20^post41 <= 0 /\ -x_SLAM_f_18^post41+x_20^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ f_170^0-f_170^post41 == 0 /\ -length_29^post41+length_29^0 == 0 /\ head_129^0-head_129^post41 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ a_116^0-a_116^post41 == 0 /\ i_108^0-i_108^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ a_260^0-a_260^post41 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ -y_19^post41 <= 0 /\ result_11^0-result_11^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ x_16^post41-x_SLAM_f_18^post41 <= 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -x_SLAM_f_18^post41+head_14^0 <= 0 /\ -temp0_15^post41+temp0_15^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ -x_16^post41+head_14^0 <= 0 /\ -head_27^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ head_14^0-x_20^post41 <= 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ r_39^0-r_39^post41 == 0 /\ -ct_17^post41+y_19^post41 <= 0 /\ -ct_17^post41+y_19^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -a_237^post41+a_237^0 == 0 /\ __disjvr_30^0-__disjvr_30^post41 == 0 /\ -a_147^0 <= 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -a_147^post41+a_147^0 == 0 /\ -r_124^post41+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -x_16^post41+x_SLAM_f_18^post41 <= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ y_19^post41 <= 0 /\ -__disjvr_22^post41+__disjvr_22^0 == 0 /\ x_SLAM_f_18^post41-head_14^0 <= 0 /\ head_32^0-head_32^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ x_16^post41-head_14^0 <= 0 /\ x_16^post41-head_14^0 == 0 /\ len_183^0-len_183^post41 == 0 /\ -len_132^post41+len_132^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ -head_14^0+x_20^post41 <= 0 /\ ct_17^post41-y_19^post41 <= 0), cost: 1
  44: l41 -> l45 : __disjvr_0^0'=__disjvr_0^post44, a_215^0'=a_215^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, __disjvr_21^0'=__disjvr_21^post44, __disjvr_3^0'=__disjvr_3^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, head_129^0'=head_129^post44, __disjvr_24^0'=__disjvr_24^post44, len_183^0'=len_183^post44, __disjvr_8^0'=__disjvr_8^post44, a_116^0'=a_116^post44, tmp_34^0'=tmp_34^post44, __disjvr_19^0'=__disjvr_19^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, __disjvr_29^0'=__disjvr_29^post44, r_39^0'=r_39^post44, __disjvr_11^0'=__disjvr_11^post44, a_260^0'=a_260^post44, i_30^0'=i_30^post44, __disjvr_5^0'=__disjvr_5^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_16^0'=__disjvr_16^post44, head_175^0'=head_175^post44, __disjvr_26^0'=__disjvr_26^post44, nondet_12^0'=nondet_12^post44, a_184^0'=a_184^post44, x_20^0'=x_20^post44, __disjvr_20^0'=__disjvr_20^post44, i_167^0'=i_167^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_88^0'=rcd_88^post44, __disjvr_13^0'=__disjvr_13^post44, f_170^0'=f_170^post44, __disjvr_23^0'=__disjvr_23^post44, len_132^0'=len_132^post44, __disjvr_7^0'=__disjvr_7^post44, temp0_15^0'=temp0_15^post44, temp_35^0'=temp_35^post44, __disjvr_18^0'=__disjvr_18^post44, head_32^0'=head_32^post44, __disjvr_28^0'=__disjvr_28^post44, r_163^0'=r_163^post44, __disjvr_10^0'=__disjvr_10^post44, a_237^0'=a_237^post44, y_19^0'=y_19^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_4^0'=__disjvr_4^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, __disjvr_15^0'=__disjvr_15^post44, head_14^0'=head_14^post44, __disjvr_25^0'=__disjvr_25^post44, length_29^0'=length_29^post44, __disjvr_9^0'=__disjvr_9^post44, a_147^0'=a_147^post44, x_16^0'=x_16^post44, __disjvr_1^0'=__disjvr_1^post44, i_108^0'=i_108^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_58^0'=rcd_58^post44, __disjvr_12^0'=__disjvr_12^post44, ct_17^0'=ct_17^post44, i_94^0'=i_94^post44, __disjvr_6^0'=__disjvr_6^post44, t_23^0'=t_23^post44, temp0_31^0'=temp0_31^post44, __disjvr_17^0'=__disjvr_17^post44, head_27^0'=head_27^post44, __disjvr_27^0'=__disjvr_27^post44, r_124^0'=r_124^post44, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ len_183^0-len_183^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ temp0_15^0-temp0_15^post44 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ -i_167^post44+i_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -i_108^post44+i_108^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ -x_16^post44+x_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ a_116^0-a_116^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -len_132^0 <= 0 /\ x_20^0-x_20^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_237^post44+a_237^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ i_30^0-i_30^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ -rcd_88^post44+rcd_88^0 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ -t_23^post44+t_23^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ i_94^0-i_94^post44 == 0 /\ -length_29^post44+length_29^0 == 0 /\ -r_163^post44+r_163^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -r_124^post44+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ -len_132^post44+len_132^0 == 0 /\ head_129^0-head_129^post44 == 0 /\ -a_147^post44+a_147^0 == 0 /\ a_184^0-a_184^post44 == 0 /\ a_260^0-a_260^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -rcd_58^post44+rcd_58^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ -head_27^post44+head_27^0 == 0 /\ a_215^0-a_215^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -a_147^0 <= 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ -__disjvr_30^post44+__disjvr_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ __disjvr_7^0-__disjvr_7^post44 == 0 /\ tmp_34^0-tmp_34^post44 == 0), cost: 1
  42: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post42, a_215^0'=a_215^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, __disjvr_21^0'=__disjvr_21^post42, __disjvr_3^0'=__disjvr_3^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, head_129^0'=head_129^post42, __disjvr_24^0'=__disjvr_24^post42, len_183^0'=len_183^post42, __disjvr_8^0'=__disjvr_8^post42, a_116^0'=a_116^post42, tmp_34^0'=tmp_34^post42, __disjvr_19^0'=__disjvr_19^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, __disjvr_29^0'=__disjvr_29^post42, r_39^0'=r_39^post42, __disjvr_11^0'=__disjvr_11^post42, a_260^0'=a_260^post42, i_30^0'=i_30^post42, __disjvr_5^0'=__disjvr_5^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_16^0'=__disjvr_16^post42, head_175^0'=head_175^post42, __disjvr_26^0'=__disjvr_26^post42, nondet_12^0'=nondet_12^post42, a_184^0'=a_184^post42, x_20^0'=x_20^post42, __disjvr_20^0'=__disjvr_20^post42, i_167^0'=i_167^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_88^0'=rcd_88^post42, __disjvr_13^0'=__disjvr_13^post42, f_170^0'=f_170^post42, __disjvr_23^0'=__disjvr_23^post42, len_132^0'=len_132^post42, __disjvr_7^0'=__disjvr_7^post42, temp0_15^0'=temp0_15^post42, temp_35^0'=temp_35^post42, __disjvr_18^0'=__disjvr_18^post42, head_32^0'=head_32^post42, __disjvr_28^0'=__disjvr_28^post42, r_163^0'=r_163^post42, __disjvr_10^0'=__disjvr_10^post42, a_237^0'=a_237^post42, y_19^0'=y_19^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_4^0'=__disjvr_4^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, __disjvr_15^0'=__disjvr_15^post42, head_14^0'=head_14^post42, __disjvr_25^0'=__disjvr_25^post42, length_29^0'=length_29^post42, __disjvr_9^0'=__disjvr_9^post42, a_147^0'=a_147^post42, x_16^0'=x_16^post42, __disjvr_1^0'=__disjvr_1^post42, i_108^0'=i_108^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_58^0'=rcd_58^post42, __disjvr_12^0'=__disjvr_12^post42, ct_17^0'=ct_17^post42, i_94^0'=i_94^post42, __disjvr_6^0'=__disjvr_6^post42, t_23^0'=t_23^post42, temp0_31^0'=temp0_31^post42, __disjvr_17^0'=__disjvr_17^post42, head_27^0'=head_27^post42, __disjvr_27^0'=__disjvr_27^post42, r_124^0'=r_124^post42, (__disjvr_1^0-__disjvr_1^post42 == 0 /\ -__disjvr_26^post42+__disjvr_26^0 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ a_116^0-a_116^post42 == 0 /\ -f_170^post42+f_170^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -head_27^post42+head_27^0 == 0 /\ -i_30^post42+i_30^0 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ a_260^0-a_260^post42 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ -r_124^post42+r_124^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -a_147^post42+a_147^0 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ len_132^0-len_132^post42 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ -head_14^post42+head_14^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ len_183^0-len_183^post42 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ rcd_88^0-rcd_88^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ a_237^0-a_237^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ a_184^0-a_184^post42 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ a_215^0-a_215^post42 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ -y_19^post42+y_19^0 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ __disjvr_20^post42-__disjvr_20^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ head_175^0-head_175^post42 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ r_39^0-r_39^post42 == 0 /\ i_167^0-i_167^post42 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0), cost: 1
  43: l43 -> l18 : __disjvr_0^0'=__disjvr_0^post43, a_215^0'=a_215^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, __disjvr_21^0'=__disjvr_21^post43, __disjvr_3^0'=__disjvr_3^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, head_129^0'=head_129^post43, __disjvr_24^0'=__disjvr_24^post43, len_183^0'=len_183^post43, __disjvr_8^0'=__disjvr_8^post43, a_116^0'=a_116^post43, tmp_34^0'=tmp_34^post43, __disjvr_19^0'=__disjvr_19^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, __disjvr_29^0'=__disjvr_29^post43, r_39^0'=r_39^post43, __disjvr_11^0'=__disjvr_11^post43, a_260^0'=a_260^post43, i_30^0'=i_30^post43, __disjvr_5^0'=__disjvr_5^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_16^0'=__disjvr_16^post43, head_175^0'=head_175^post43, __disjvr_26^0'=__disjvr_26^post43, nondet_12^0'=nondet_12^post43, a_184^0'=a_184^post43, x_20^0'=x_20^post43, __disjvr_20^0'=__disjvr_20^post43, i_167^0'=i_167^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_88^0'=rcd_88^post43, __disjvr_13^0'=__disjvr_13^post43, f_170^0'=f_170^post43, __disjvr_23^0'=__disjvr_23^post43, len_132^0'=len_132^post43, __disjvr_7^0'=__disjvr_7^post43, temp0_15^0'=temp0_15^post43, temp_35^0'=temp_35^post43, __disjvr_18^0'=__disjvr_18^post43, head_32^0'=head_32^post43, __disjvr_28^0'=__disjvr_28^post43, r_163^0'=r_163^post43, __disjvr_10^0'=__disjvr_10^post43, a_237^0'=a_237^post43, y_19^0'=y_19^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_4^0'=__disjvr_4^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, __disjvr_15^0'=__disjvr_15^post43, head_14^0'=head_14^post43, __disjvr_25^0'=__disjvr_25^post43, length_29^0'=length_29^post43, __disjvr_9^0'=__disjvr_9^post43, a_147^0'=a_147^post43, x_16^0'=x_16^post43, __disjvr_1^0'=__disjvr_1^post43, i_108^0'=i_108^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_58^0'=rcd_58^post43, __disjvr_12^0'=__disjvr_12^post43, ct_17^0'=ct_17^post43, i_94^0'=i_94^post43, __disjvr_6^0'=__disjvr_6^post43, t_23^0'=t_23^post43, temp0_31^0'=temp0_31^post43, __disjvr_17^0'=__disjvr_17^post43, head_27^0'=head_27^post43, __disjvr_27^0'=__disjvr_27^post43, r_124^0'=r_124^post43, (-a_260^post43+a_260^0 == 0 /\ -i_94^post43+i_94^0 == 0 /\ a_215^0-a_215^post43 == 0 /\ -head_14^post43+head_14^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -len_132^post43+len_132^0 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -a_147^post43+a_147^0 == 0 /\ __disjvr_30^0-__disjvr_30^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -r_124^post43+r_124^0 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post43 == 0 /\ -head_175^post43+head_175^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ -x_16^post43+x_16^0 == 0 /\ len_183^0-len_183^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ r_163^0-r_163^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ head_32^0-head_32^post43 == 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ head_129^0-head_129^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ a_184^0-a_184^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ __disjvr_28^0-__disjvr_28^post43 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ f_170^0-f_170^post43 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ i_167^0-i_167^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ -temp0_15^post43+temp0_15^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_39^post43+r_39^0 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ -head_27^post43+head_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -a_237^post43+a_237^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ -__disjvr_9^post43+__disjvr_9^0 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0), cost: 1
  45: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post45, a_215^0'=a_215^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, __disjvr_21^0'=__disjvr_21^post45, __disjvr_3^0'=__disjvr_3^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, head_129^0'=head_129^post45, __disjvr_24^0'=__disjvr_24^post45, len_183^0'=len_183^post45, __disjvr_8^0'=__disjvr_8^post45, a_116^0'=a_116^post45, tmp_34^0'=tmp_34^post45, __disjvr_19^0'=__disjvr_19^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, __disjvr_29^0'=__disjvr_29^post45, r_39^0'=r_39^post45, __disjvr_11^0'=__disjvr_11^post45, a_260^0'=a_260^post45, i_30^0'=i_30^post45, __disjvr_5^0'=__disjvr_5^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_16^0'=__disjvr_16^post45, head_175^0'=head_175^post45, __disjvr_26^0'=__disjvr_26^post45, nondet_12^0'=nondet_12^post45, a_184^0'=a_184^post45, x_20^0'=x_20^post45, __disjvr_20^0'=__disjvr_20^post45, i_167^0'=i_167^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_88^0'=rcd_88^post45, __disjvr_13^0'=__disjvr_13^post45, f_170^0'=f_170^post45, __disjvr_23^0'=__disjvr_23^post45, len_132^0'=len_132^post45, __disjvr_7^0'=__disjvr_7^post45, temp0_15^0'=temp0_15^post45, temp_35^0'=temp_35^post45, __disjvr_18^0'=__disjvr_18^post45, head_32^0'=head_32^post45, __disjvr_28^0'=__disjvr_28^post45, r_163^0'=r_163^post45, __disjvr_10^0'=__disjvr_10^post45, a_237^0'=a_237^post45, y_19^0'=y_19^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_4^0'=__disjvr_4^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, __disjvr_15^0'=__disjvr_15^post45, head_14^0'=head_14^post45, __disjvr_25^0'=__disjvr_25^post45, length_29^0'=length_29^post45, __disjvr_9^0'=__disjvr_9^post45, a_147^0'=a_147^post45, x_16^0'=x_16^post45, __disjvr_1^0'=__disjvr_1^post45, i_108^0'=i_108^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_58^0'=rcd_58^post45, __disjvr_12^0'=__disjvr_12^post45, ct_17^0'=ct_17^post45, i_94^0'=i_94^post45, __disjvr_6^0'=__disjvr_6^post45, t_23^0'=t_23^post45, temp0_31^0'=temp0_31^post45, __disjvr_17^0'=__disjvr_17^post45, head_27^0'=head_27^post45, __disjvr_27^0'=__disjvr_27^post45, r_124^0'=r_124^post45, (__disjvr_21^0-__disjvr_21^post45 == 0 /\ -__disjvr_20^post45+__disjvr_20^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ x_16^0-x_16^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -head_14^post45+head_14^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -rcd_58^post45+rcd_58^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -a_147^post45+a_147^0 == 0 /\ -i_94^post45+i_94^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -__disjvr_21^0+__disjvr_21^post45 == 0 /\ -head_27^post45+head_27^0 == 0 /\ -f_170^post45+f_170^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -y_19^post45+y_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ -r_163^post45+r_163^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ a_184^0-a_184^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ -a_260^post45+a_260^0 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ a_215^0-a_215^post45 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ i_30^0-i_30^post45 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ head_175^0-head_175^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ len_132^0-len_132^post45 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post45 == 0 /\ __disjvr_30^0-__disjvr_30^post45 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ len_183^0-len_183^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -r_124^post45+r_124^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ head_129^0-head_129^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ a_237^0-a_237^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ -temp0_15^post45+temp0_15^0 == 0), cost: 1
  46: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post46, a_215^0'=a_215^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, __disjvr_21^0'=__disjvr_21^post46, __disjvr_3^0'=__disjvr_3^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, head_129^0'=head_129^post46, __disjvr_24^0'=__disjvr_24^post46, len_183^0'=len_183^post46, __disjvr_8^0'=__disjvr_8^post46, a_116^0'=a_116^post46, tmp_34^0'=tmp_34^post46, __disjvr_19^0'=__disjvr_19^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, __disjvr_29^0'=__disjvr_29^post46, r_39^0'=r_39^post46, __disjvr_11^0'=__disjvr_11^post46, a_260^0'=a_260^post46, i_30^0'=i_30^post46, __disjvr_5^0'=__disjvr_5^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_16^0'=__disjvr_16^post46, head_175^0'=head_175^post46, __disjvr_26^0'=__disjvr_26^post46, nondet_12^0'=nondet_12^post46, a_184^0'=a_184^post46, x_20^0'=x_20^post46, __disjvr_20^0'=__disjvr_20^post46, i_167^0'=i_167^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_88^0'=rcd_88^post46, __disjvr_13^0'=__disjvr_13^post46, f_170^0'=f_170^post46, __disjvr_23^0'=__disjvr_23^post46, len_132^0'=len_132^post46, __disjvr_7^0'=__disjvr_7^post46, temp0_15^0'=temp0_15^post46, temp_35^0'=temp_35^post46, __disjvr_18^0'=__disjvr_18^post46, head_32^0'=head_32^post46, __disjvr_28^0'=__disjvr_28^post46, r_163^0'=r_163^post46, __disjvr_10^0'=__disjvr_10^post46, a_237^0'=a_237^post46, y_19^0'=y_19^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_4^0'=__disjvr_4^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, __disjvr_15^0'=__disjvr_15^post46, head_14^0'=head_14^post46, __disjvr_25^0'=__disjvr_25^post46, length_29^0'=length_29^post46, __disjvr_9^0'=__disjvr_9^post46, a_147^0'=a_147^post46, x_16^0'=x_16^post46, __disjvr_1^0'=__disjvr_1^post46, i_108^0'=i_108^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_58^0'=rcd_58^post46, __disjvr_12^0'=__disjvr_12^post46, ct_17^0'=ct_17^post46, i_94^0'=i_94^post46, __disjvr_6^0'=__disjvr_6^post46, t_23^0'=t_23^post46, temp0_31^0'=temp0_31^post46, __disjvr_17^0'=__disjvr_17^post46, head_27^0'=head_27^post46, __disjvr_27^0'=__disjvr_27^post46, r_124^0'=r_124^post46, (0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post46 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp_35^0-temp_35^post46 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ -a_237^post46+a_237^0 == 0 /\ r_163^0-r_163^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ head_129^0-head_129^post46 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ -i_108^post46+i_108^0 == 0 /\ a_215^0-a_215^post46 == 0 /\ -1-a_184^post46+a_147^0 <= 0 /\ f_170^0-f_170^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ result_11^0-result_11^post46 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ i_30^0-i_30^post46 == 0 /\ -a_147^post46+a_147^0 == 0 /\ -r_124^post46+r_124^0 == 0 /\ 1-len_183^post46+len_132^0 <= 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_9^post46+__disjvr_9^0 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ i_167^0-i_167^post46 == 0 /\ a_260^0-a_260^post46 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ __disjvr_7^0-__disjvr_7^post46 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ r_39^0-r_39^post46 == 0 /\ -t_23^post46+t_23^0 == 0 /\ -__disjvr_21^post46+__disjvr_21^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ head_14^0-head_14^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -len_132^post46+len_132^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -head_32^post46+head_32^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ -head_SLAM_f_26^post46+head_SLAM_f_26^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_116^0-a_116^post46 == 0 /\ 1+a_184^post46-a_147^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -x_16^post46+x_16^0 == 0 /\ -head_175^post46+head_175^0 == 0 /\ x_20^0-x_20^post46 == 0 /\ -__disjvr_15^post46+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+len_183^post46-len_132^0 <= 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ -head_27^post46+head_27^0 == 0 /\ f_170^0-head_27^0 <= 0 /\ -y_19^post46+y_19^0 == 0 /\ -__disjvr_30^post46+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post46 == 0), cost: 1
  47: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post47, a_215^0'=a_215^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, __disjvr_21^0'=__disjvr_21^post47, __disjvr_3^0'=__disjvr_3^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, head_129^0'=head_129^post47, __disjvr_24^0'=__disjvr_24^post47, len_183^0'=len_183^post47, __disjvr_8^0'=__disjvr_8^post47, a_116^0'=a_116^post47, tmp_34^0'=tmp_34^post47, __disjvr_19^0'=__disjvr_19^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, __disjvr_29^0'=__disjvr_29^post47, r_39^0'=r_39^post47, __disjvr_11^0'=__disjvr_11^post47, a_260^0'=a_260^post47, i_30^0'=i_30^post47, __disjvr_5^0'=__disjvr_5^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_16^0'=__disjvr_16^post47, head_175^0'=head_175^post47, __disjvr_26^0'=__disjvr_26^post47, nondet_12^0'=nondet_12^post47, a_184^0'=a_184^post47, x_20^0'=x_20^post47, __disjvr_20^0'=__disjvr_20^post47, i_167^0'=i_167^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_88^0'=rcd_88^post47, __disjvr_13^0'=__disjvr_13^post47, f_170^0'=f_170^post47, __disjvr_23^0'=__disjvr_23^post47, len_132^0'=len_132^post47, __disjvr_7^0'=__disjvr_7^post47, temp0_15^0'=temp0_15^post47, temp_35^0'=temp_35^post47, __disjvr_18^0'=__disjvr_18^post47, head_32^0'=head_32^post47, __disjvr_28^0'=__disjvr_28^post47, r_163^0'=r_163^post47, __disjvr_10^0'=__disjvr_10^post47, a_237^0'=a_237^post47, y_19^0'=y_19^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_4^0'=__disjvr_4^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, __disjvr_15^0'=__disjvr_15^post47, head_14^0'=head_14^post47, __disjvr_25^0'=__disjvr_25^post47, length_29^0'=length_29^post47, __disjvr_9^0'=__disjvr_9^post47, a_147^0'=a_147^post47, x_16^0'=x_16^post47, __disjvr_1^0'=__disjvr_1^post47, i_108^0'=i_108^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_58^0'=rcd_58^post47, __disjvr_12^0'=__disjvr_12^post47, ct_17^0'=ct_17^post47, i_94^0'=i_94^post47, __disjvr_6^0'=__disjvr_6^post47, t_23^0'=t_23^post47, temp0_31^0'=temp0_31^post47, __disjvr_17^0'=__disjvr_17^post47, head_27^0'=head_27^post47, __disjvr_27^0'=__disjvr_27^post47, r_124^0'=r_124^post47, (head_129^0-head_129^post47 == 0 /\ -head_14^post47+head_14^0 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ a_116^0-a_116^post47 == 0 /\ -length_29^post47+length_29^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -a_147^post47+a_147^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -rcd_58^post47+rcd_58^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ -i_94^post47+i_94^0 == 0 /\ -head_175^post47+head_175^0 == 0 /\ __disjvr_8^0-__disjvr_8^post47 == 0 /\ -x_16^post47+x_16^0 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ a_260^0-a_260^post47 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ __disjvr_10^0-__disjvr_10^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -head_27^post47+head_27^0 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ -f_170^post47+f_170^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_4^post47+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ -i_167^post47+i_167^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ x_20^0-x_20^post47 == 0 /\ __disjvr_22^post47-__disjvr_22^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ tmp_34^0-tmp_34^post47 == 0 /\ -a_215^post47+a_215^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -__disjvr_18^post47+__disjvr_18^0 == 0 /\ -__disjvr_29^post47+__disjvr_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -a_237^post47+a_237^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post47 == 0 /\ r_163^0-r_163^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -r_124^post47+r_124^0 == 0 /\ a_184^0-a_184^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ r_39^0-r_39^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -__disjvr_11^post47+__disjvr_11^0 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0), cost: 1
  48: l48 -> l49 : __disjvr_0^0'=__disjvr_0^post48, a_215^0'=a_215^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, __disjvr_21^0'=__disjvr_21^post48, __disjvr_3^0'=__disjvr_3^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, head_129^0'=head_129^post48, __disjvr_24^0'=__disjvr_24^post48, len_183^0'=len_183^post48, __disjvr_8^0'=__disjvr_8^post48, a_116^0'=a_116^post48, tmp_34^0'=tmp_34^post48, __disjvr_19^0'=__disjvr_19^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, __disjvr_29^0'=__disjvr_29^post48, r_39^0'=r_39^post48, __disjvr_11^0'=__disjvr_11^post48, a_260^0'=a_260^post48, i_30^0'=i_30^post48, __disjvr_5^0'=__disjvr_5^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_16^0'=__disjvr_16^post48, head_175^0'=head_175^post48, __disjvr_26^0'=__disjvr_26^post48, nondet_12^0'=nondet_12^post48, a_184^0'=a_184^post48, x_20^0'=x_20^post48, __disjvr_20^0'=__disjvr_20^post48, i_167^0'=i_167^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_88^0'=rcd_88^post48, __disjvr_13^0'=__disjvr_13^post48, f_170^0'=f_170^post48, __disjvr_23^0'=__disjvr_23^post48, len_132^0'=len_132^post48, __disjvr_7^0'=__disjvr_7^post48, temp0_15^0'=temp0_15^post48, temp_35^0'=temp_35^post48, __disjvr_18^0'=__disjvr_18^post48, head_32^0'=head_32^post48, __disjvr_28^0'=__disjvr_28^post48, r_163^0'=r_163^post48, __disjvr_10^0'=__disjvr_10^post48, a_237^0'=a_237^post48, y_19^0'=y_19^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_4^0'=__disjvr_4^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, __disjvr_15^0'=__disjvr_15^post48, head_14^0'=head_14^post48, __disjvr_25^0'=__disjvr_25^post48, length_29^0'=length_29^post48, __disjvr_9^0'=__disjvr_9^post48, a_147^0'=a_147^post48, x_16^0'=x_16^post48, __disjvr_1^0'=__disjvr_1^post48, i_108^0'=i_108^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_58^0'=rcd_58^post48, __disjvr_12^0'=__disjvr_12^post48, ct_17^0'=ct_17^post48, i_94^0'=i_94^post48, __disjvr_6^0'=__disjvr_6^post48, t_23^0'=t_23^post48, temp0_31^0'=temp0_31^post48, __disjvr_17^0'=__disjvr_17^post48, head_27^0'=head_27^post48, __disjvr_27^0'=__disjvr_27^post48, r_124^0'=r_124^post48, (__disjvr_7^0-__disjvr_7^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ a_260^0-a_260^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_88^post48+rcd_88^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ a_215^0-a_215^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -x_20^post48+x_20^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ head_129^0-head_129^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -r_124^post48+r_124^0 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -i_108^post48+i_108^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -temp0_15^post48+temp0_15^0 == 0 /\ len_132^0-len_132^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ len_183^0-len_183^post48 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ __disjvr_30^0-__disjvr_30^post48 == 0 /\ -ct_17^post48+ct_17^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ -head_14^post48+head_14^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ a_184^0-a_184^post48 == 0 /\ -t_23^post48+t_23^0 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -r_163^post48+r_163^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -a_147^post48+a_147^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ a_237^0-a_237^post48 == 0 /\ i_30^0-i_30^post48 == 0 /\ -f_170^post48+f_170^0 == 0 /\ __disjvr_18^0-__disjvr_18^post48 == 0 /\ -y_19^post48+y_19^0 == 0 /\ head_175^0-head_175^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_23^post48-__disjvr_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ i_167^0-i_167^post48 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ a_116^0-a_116^post48 == 0 /\ -r_39^post48+r_39^0 == 0 /\ -head_27^post48+head_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0), cost: 1
  49: l49 -> l44 : __disjvr_0^0'=__disjvr_0^post49, a_215^0'=a_215^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, __disjvr_21^0'=__disjvr_21^post49, __disjvr_3^0'=__disjvr_3^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, head_129^0'=head_129^post49, __disjvr_24^0'=__disjvr_24^post49, len_183^0'=len_183^post49, __disjvr_8^0'=__disjvr_8^post49, a_116^0'=a_116^post49, tmp_34^0'=tmp_34^post49, __disjvr_19^0'=__disjvr_19^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, __disjvr_29^0'=__disjvr_29^post49, r_39^0'=r_39^post49, __disjvr_11^0'=__disjvr_11^post49, a_260^0'=a_260^post49, i_30^0'=i_30^post49, __disjvr_5^0'=__disjvr_5^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_16^0'=__disjvr_16^post49, head_175^0'=head_175^post49, __disjvr_26^0'=__disjvr_26^post49, nondet_12^0'=nondet_12^post49, a_184^0'=a_184^post49, x_20^0'=x_20^post49, __disjvr_20^0'=__disjvr_20^post49, i_167^0'=i_167^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_88^0'=rcd_88^post49, __disjvr_13^0'=__disjvr_13^post49, f_170^0'=f_170^post49, __disjvr_23^0'=__disjvr_23^post49, len_132^0'=len_132^post49, __disjvr_7^0'=__disjvr_7^post49, temp0_15^0'=temp0_15^post49, temp_35^0'=temp_35^post49, __disjvr_18^0'=__disjvr_18^post49, head_32^0'=head_32^post49, __disjvr_28^0'=__disjvr_28^post49, r_163^0'=r_163^post49, __disjvr_10^0'=__disjvr_10^post49, a_237^0'=a_237^post49, y_19^0'=y_19^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_4^0'=__disjvr_4^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, __disjvr_15^0'=__disjvr_15^post49, head_14^0'=head_14^post49, __disjvr_25^0'=__disjvr_25^post49, length_29^0'=length_29^post49, __disjvr_9^0'=__disjvr_9^post49, a_147^0'=a_147^post49, x_16^0'=x_16^post49, __disjvr_1^0'=__disjvr_1^post49, i_108^0'=i_108^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_58^0'=rcd_58^post49, __disjvr_12^0'=__disjvr_12^post49, ct_17^0'=ct_17^post49, i_94^0'=i_94^post49, __disjvr_6^0'=__disjvr_6^post49, t_23^0'=t_23^post49, temp0_31^0'=temp0_31^post49, __disjvr_17^0'=__disjvr_17^post49, head_27^0'=head_27^post49, __disjvr_27^0'=__disjvr_27^post49, r_124^0'=r_124^post49, (0 == 0 /\ -length_29^post49+length_29^0 == 0 /\ -head_27^post49+head_27^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -t_23^post49+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ len_183^0-len_183^post49 == 0 /\ a_147^post49-a_184^0 <= 0 /\ -head_14^post49+head_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ __disjvr_30^0-__disjvr_30^post49 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -head_175^post49+head_175^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ -a_184^post49+a_184^0 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ head_32^0-head_32^post49 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ i_108^0-i_108^post49 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ r_163^0-r_163^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -a_147^post49+a_184^0 <= 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ head_129^0-head_129^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ f_170^0-f_170^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ x_20^0-x_20^post49 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post49 == 0 /\ i_167^0-i_167^post49 == 0 /\ len_183^0-len_132^post49 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_116^0-a_116^post49 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ -x_16^post49+x_16^0 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -a_237^post49+a_237^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post49 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_260^0-a_260^post49 == 0 /\ __disjvr_7^0-__disjvr_7^post49 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ -len_183^0+len_132^post49 <= 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ a_215^0-a_215^post49 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -r_124^post49+r_124^0 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ __disjvr_28^0-__disjvr_28^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0), cost: 1
  50: l44 -> l41 : __disjvr_0^0'=__disjvr_0^post50, a_215^0'=a_215^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, __disjvr_21^0'=__disjvr_21^post50, __disjvr_3^0'=__disjvr_3^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, head_129^0'=head_129^post50, __disjvr_24^0'=__disjvr_24^post50, len_183^0'=len_183^post50, __disjvr_8^0'=__disjvr_8^post50, a_116^0'=a_116^post50, tmp_34^0'=tmp_34^post50, __disjvr_19^0'=__disjvr_19^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, __disjvr_29^0'=__disjvr_29^post50, r_39^0'=r_39^post50, __disjvr_11^0'=__disjvr_11^post50, a_260^0'=a_260^post50, i_30^0'=i_30^post50, __disjvr_5^0'=__disjvr_5^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_16^0'=__disjvr_16^post50, head_175^0'=head_175^post50, __disjvr_26^0'=__disjvr_26^post50, nondet_12^0'=nondet_12^post50, a_184^0'=a_184^post50, x_20^0'=x_20^post50, __disjvr_20^0'=__disjvr_20^post50, i_167^0'=i_167^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_88^0'=rcd_88^post50, __disjvr_13^0'=__disjvr_13^post50, f_170^0'=f_170^post50, __disjvr_23^0'=__disjvr_23^post50, len_132^0'=len_132^post50, __disjvr_7^0'=__disjvr_7^post50, temp0_15^0'=temp0_15^post50, temp_35^0'=temp_35^post50, __disjvr_18^0'=__disjvr_18^post50, head_32^0'=head_32^post50, __disjvr_28^0'=__disjvr_28^post50, r_163^0'=r_163^post50, __disjvr_10^0'=__disjvr_10^post50, a_237^0'=a_237^post50, y_19^0'=y_19^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_4^0'=__disjvr_4^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, __disjvr_15^0'=__disjvr_15^post50, head_14^0'=head_14^post50, __disjvr_25^0'=__disjvr_25^post50, length_29^0'=length_29^post50, __disjvr_9^0'=__disjvr_9^post50, a_147^0'=a_147^post50, x_16^0'=x_16^post50, __disjvr_1^0'=__disjvr_1^post50, i_108^0'=i_108^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_58^0'=rcd_58^post50, __disjvr_12^0'=__disjvr_12^post50, ct_17^0'=ct_17^post50, i_94^0'=i_94^post50, __disjvr_6^0'=__disjvr_6^post50, t_23^0'=t_23^post50, temp0_31^0'=temp0_31^post50, __disjvr_17^0'=__disjvr_17^post50, head_27^0'=head_27^post50, __disjvr_27^0'=__disjvr_27^post50, r_124^0'=r_124^post50, (rcd_88^0-rcd_88^post50 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ -i_167^post50+i_167^0 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -a_237^post50+a_237^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -x_16^post50+x_16^0 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ x_20^0-x_20^post50 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ head_175^0-head_175^post50 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ ct_17^0-ct_17^post50 == 0 /\ rcd_58^0-rcd_58^post50 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -r_124^post50+r_124^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ -i_30^post50+i_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -__disjvr_9^post50+__disjvr_9^0 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ -head_27^post50+head_27^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ r_39^0-r_39^post50 == 0 /\ -t_23^post50+t_23^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post50 == 0 /\ tmp_34^0-tmp_34^post50 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ a_215^0-a_215^post50 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ a_184^0-a_184^post50 == 0 /\ -a_116^post50+a_116^0 == 0 /\ -len_132^post50+len_132^0 == 0 /\ -a_147^post50+a_147^0 == 0 /\ -head_14^post50+head_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ head_129^0-head_129^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -a_260^post50+a_260^0 == 0 /\ -r_163^post50+r_163^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ len_183^0-len_183^post50 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ y_19^0-y_19^post50 == 0 /\ -f_170^post50+f_170^0 == 0), cost: 1
  51: l50 -> l51 : __disjvr_0^0'=__disjvr_0^post51, a_215^0'=a_215^post51, x_SLAM_f_18^0'=x_SLAM_f_18^post51, __disjvr_21^0'=__disjvr_21^post51, __disjvr_3^0'=__disjvr_3^post51, result_11^0'=result_11^post51, __disjvr_14^0'=__disjvr_14^post51, head_129^0'=head_129^post51, __disjvr_24^0'=__disjvr_24^post51, len_183^0'=len_183^post51, __disjvr_8^0'=__disjvr_8^post51, a_116^0'=a_116^post51, tmp_34^0'=tmp_34^post51, __disjvr_19^0'=__disjvr_19^post51, head_SLAM_f_26^0'=head_SLAM_f_26^post51, __disjvr_29^0'=__disjvr_29^post51, r_39^0'=r_39^post51, __disjvr_11^0'=__disjvr_11^post51, a_260^0'=a_260^post51, i_30^0'=i_30^post51, __disjvr_5^0'=__disjvr_5^post51, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post51, __disjvr_16^0'=__disjvr_16^post51, head_175^0'=head_175^post51, __disjvr_26^0'=__disjvr_26^post51, nondet_12^0'=nondet_12^post51, a_184^0'=a_184^post51, x_20^0'=x_20^post51, __disjvr_20^0'=__disjvr_20^post51, i_167^0'=i_167^post51, __disjvr_30^0'=__disjvr_30^post51, rcd_88^0'=rcd_88^post51, __disjvr_13^0'=__disjvr_13^post51, f_170^0'=f_170^post51, __disjvr_23^0'=__disjvr_23^post51, len_132^0'=len_132^post51, __disjvr_7^0'=__disjvr_7^post51, temp0_15^0'=temp0_15^post51, temp_35^0'=temp_35^post51, __disjvr_18^0'=__disjvr_18^post51, head_32^0'=head_32^post51, __disjvr_28^0'=__disjvr_28^post51, r_163^0'=r_163^post51, __disjvr_10^0'=__disjvr_10^post51, a_237^0'=a_237^post51, y_19^0'=y_19^post51, __disjvr_22^0'=__disjvr_22^post51, __disjvr_4^0'=__disjvr_4^post51, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51, __disjvr_15^0'=__disjvr_15^post51, head_14^0'=head_14^post51, __disjvr_25^0'=__disjvr_25^post51, length_29^0'=length_29^post51, __disjvr_9^0'=__disjvr_9^post51, a_147^0'=a_147^post51, x_16^0'=x_16^post51, __disjvr_1^0'=__disjvr_1^post51, i_108^0'=i_108^post51, __disjvr_2^0'=__disjvr_2^post51, rcd_58^0'=rcd_58^post51, __disjvr_12^0'=__disjvr_12^post51, ct_17^0'=ct_17^post51, i_94^0'=i_94^post51, __disjvr_6^0'=__disjvr_6^post51, t_23^0'=t_23^post51, temp0_31^0'=temp0_31^post51, __disjvr_17^0'=__disjvr_17^post51, head_27^0'=head_27^post51, __disjvr_27^0'=__disjvr_27^post51, r_124^0'=r_124^post51, (0 == 0 /\ -__disjvr_17^post51+__disjvr_17^0 == 0 /\ __disjvr_21^0-__disjvr_21^post51 == 0 /\ head_129^0-head_129^post51 == 0 /\ -a_116^0 <= 0 /\ -__disjvr_15^post51+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post51 == 0 /\ -nondet_12^post51+nondet_12^0 == 0 /\ __disjvr_0^0-__disjvr_0^post51 == 0 /\ -a_147^post51+a_147^0 == 0 /\ -y_19^post51+ct_17^post51 <= 0 /\ a_116^0-a_116^post51 == 0 /\ -__disjvr_2^post51+__disjvr_2^0 == 0 /\ x_20^post51-head_14^0 <= 0 /\ -length_29^post51+length_29^0 == 0 /\ x_16^post51-head_14^0 <= 0 /\ x_16^post51-head_14^0 == 0 /\ -__disjvr_6^post51+__disjvr_6^0 == 0 /\ -__disjvr_23^post51+__disjvr_23^0 == 0 /\ -__disjvr_1^post51+__disjvr_1^0 == 0 /\ -temp0_31^post51+temp0_31^0 == 0 /\ head_32^0-head_32^post51 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0 /\ -ct_17^post51 <= 0 /\ -r_163^post51+r_163^0 == 0 /\ a_184^0-a_184^post51 == 0 /\ i_167^0-i_167^post51 == 0 /\ y_19^post51-ct_17^post51 <= 0 /\ y_19^post51-ct_17^post51 == 0 /\ __disjvr_26^0-__disjvr_26^post51 == 0 /\ a_215^0-a_215^post51 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post51+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_58^post51+rcd_58^0 == 0 /\ -x_20^post51+head_14^0 <= 0 /\ -x_16^post51+head_14^0 <= 0 /\ y_19^post51 <= 0 /\ -a_260^post51+a_260^0 == 0 /\ -f_170^post51+f_170^0 == 0 /\ result_11^0-result_11^post51 == 0 /\ -r_39^post51+r_39^0 == 0 /\ __disjvr_5^0-__disjvr_5^post51 == 0 /\ __disjvr_13^0-__disjvr_13^post51 == 0 /\ __disjvr_14^0-__disjvr_14^post51 == 0 /\ __disjvr_28^0-__disjvr_28^post51 == 0 /\ -y_19^post51 <= 0 /\ x_16^post51-x_SLAM_f_18^post51 <= 0 /\ -__disjvr_4^post51+__disjvr_4^0 == 0 /\ ct_17^post51 <= 0 /\ ct_17^post51 == 0 /\ __disjvr_29^0-__disjvr_29^post51 == 0 /\ __disjvr_11^0-__disjvr_11^post51 == 0 /\ head_14^0-head_14^post51 == 0 /\ x_20^post51-x_SLAM_f_18^post51 <= 0 /\ x_20^post51-x_SLAM_f_18^post51 == 0 /\ -head_14^0+x_SLAM_f_18^post51 <= 0 /\ -__disjvr_10^post51+__disjvr_10^0 == 0 /\ -r_124^post51+r_124^0 == 0 /\ head_175^0-head_175^post51 == 0 /\ i_30^0-i_30^post51 == 0 /\ -__disjvr_25^post51+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post51 == 0 /\ len_183^0-len_183^post51 == 0 /\ -temp_35^post51+temp_35^0 == 0 /\ len_132^0-len_132^post51 == 0 /\ -__disjvr_7^post51+__disjvr_7^0 == 0 /\ -head_27^0 <= 0 /\ __disjvr_30^0-__disjvr_30^post51 == 0 /\ __disjvr_3^0-__disjvr_3^post51 == 0 /\ -x_16^post51+x_SLAM_f_18^post51 <= 0 /\ -x_16^post51+x_SLAM_f_18^post51 == 0 /\ a_237^0-a_237^post51 == 0 /\ -__disjvr_12^post51+__disjvr_12^0 == 0 /\ rcd_88^0-rcd_88^post51 == 0 /\ -x_20^post51+x_SLAM_f_18^post51 <= 0 /\ -__disjvr_24^post51+__disjvr_24^0 == 0 /\ head_14^0-x_SLAM_f_18^post51 <= 0 /\ -__disjvr_27^post51+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post51 == 0 /\ -tmp_34^post51+tmp_34^0 == 0 /\ -t_23^post51+t_23^0 == 0 /\ -temp0_15^post51+temp0_15^0 == 0 /\ __disjvr_19^0-__disjvr_19^post51 == 0 /\ -i_94^post51+i_94^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_18^post51+__disjvr_18^0 == 0 /\ -__disjvr_20^post51+__disjvr_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post51 == 0 /\ -i_108^post51+i_108^0 == 0), cost: 1
  54: l50 -> l53 : __disjvr_0^0'=__disjvr_0^post54, a_215^0'=a_215^post54, x_SLAM_f_18^0'=x_SLAM_f_18^post54, __disjvr_21^0'=__disjvr_21^post54, __disjvr_3^0'=__disjvr_3^post54, result_11^0'=result_11^post54, __disjvr_14^0'=__disjvr_14^post54, head_129^0'=head_129^post54, __disjvr_24^0'=__disjvr_24^post54, len_183^0'=len_183^post54, __disjvr_8^0'=__disjvr_8^post54, a_116^0'=a_116^post54, tmp_34^0'=tmp_34^post54, __disjvr_19^0'=__disjvr_19^post54, head_SLAM_f_26^0'=head_SLAM_f_26^post54, __disjvr_29^0'=__disjvr_29^post54, r_39^0'=r_39^post54, __disjvr_11^0'=__disjvr_11^post54, a_260^0'=a_260^post54, i_30^0'=i_30^post54, __disjvr_5^0'=__disjvr_5^post54, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post54, __disjvr_16^0'=__disjvr_16^post54, head_175^0'=head_175^post54, __disjvr_26^0'=__disjvr_26^post54, nondet_12^0'=nondet_12^post54, a_184^0'=a_184^post54, x_20^0'=x_20^post54, __disjvr_20^0'=__disjvr_20^post54, i_167^0'=i_167^post54, __disjvr_30^0'=__disjvr_30^post54, rcd_88^0'=rcd_88^post54, __disjvr_13^0'=__disjvr_13^post54, f_170^0'=f_170^post54, __disjvr_23^0'=__disjvr_23^post54, len_132^0'=len_132^post54, __disjvr_7^0'=__disjvr_7^post54, temp0_15^0'=temp0_15^post54, temp_35^0'=temp_35^post54, __disjvr_18^0'=__disjvr_18^post54, head_32^0'=head_32^post54, __disjvr_28^0'=__disjvr_28^post54, r_163^0'=r_163^post54, __disjvr_10^0'=__disjvr_10^post54, a_237^0'=a_237^post54, y_19^0'=y_19^post54, __disjvr_22^0'=__disjvr_22^post54, __disjvr_4^0'=__disjvr_4^post54, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54, __disjvr_15^0'=__disjvr_15^post54, head_14^0'=head_14^post54, __disjvr_25^0'=__disjvr_25^post54, length_29^0'=length_29^post54, __disjvr_9^0'=__disjvr_9^post54, a_147^0'=a_147^post54, x_16^0'=x_16^post54, __disjvr_1^0'=__disjvr_1^post54, i_108^0'=i_108^post54, __disjvr_2^0'=__disjvr_2^post54, rcd_58^0'=rcd_58^post54, __disjvr_12^0'=__disjvr_12^post54, ct_17^0'=ct_17^post54, i_94^0'=i_94^post54, __disjvr_6^0'=__disjvr_6^post54, t_23^0'=t_23^post54, temp0_31^0'=temp0_31^post54, __disjvr_17^0'=__disjvr_17^post54, head_27^0'=head_27^post54, __disjvr_27^0'=__disjvr_27^post54, r_124^0'=r_124^post54, (0 == 0 /\ -__disjvr_16^post54+__disjvr_16^0 == 0 /\ -x_16^post54+x_16^0 == 0 /\ -a_237^post54+a_237^0 == 0 /\ -a_116^0 <= 0 /\ len_183^0-len_183^post54 == 0 /\ __disjvr_3^0-__disjvr_3^post54 == 0 /\ -__disjvr_25^post54+__disjvr_25^0 == 0 /\ -__disjvr_22^post54+__disjvr_22^0 == 0 /\ temp0_15^0-temp0_15^post54 == 0 /\ __disjvr_14^0-__disjvr_14^post54 == 0 /\ -rcd_88^post54+rcd_88^0 == 0 /\ __disjvr_10^0-__disjvr_10^post54 == 0 /\ head_175^0-head_175^post54 == 0 /\ __disjvr_18^0-__disjvr_18^post54 == 0 /\ __disjvr_20^0-__disjvr_20^post54 == 0 /\ __disjvr_19^0-__disjvr_19^post54 == 0 /\ a_116^0-a_116^post54 == 0 /\ -i_108^post54+i_108^0 == 0 /\ __disjvr_0^0-__disjvr_0^post54 == 0 /\ i_30^0-i_30^post54 == 0 /\ nondet_12^0-nondet_12^post54 == 0 /\ -__disjvr_9^post54+__disjvr_9^0 == 0 /\ x_20^0-x_20^post54 == 0 /\ -t_23^post54+t_23^0 == 0 /\ -i_94^post54+i_94^0 == 0 /\ __disjvr_2^0-__disjvr_2^post54 == 0 /\ __disjvr_24^0-__disjvr_24^post54 == 0 /\ -__disjvr_12^post54+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post54 == 0 /\ __disjvr_7^0-__disjvr_7^post54 == 0 /\ head_32^0-head_32^post54 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post54 == 0 /\ -ct_17^post54+ct_17^0 == 0 /\ -__disjvr_15^post54+__disjvr_15^0 == 0 /\ temp_35^0-temp_35^post54 == 0 /\ -f_170^post54+f_170^0 == 0 /\ __disjvr_23^0-__disjvr_23^post54 == 0 /\ -len_132^post54+len_132^0 == 0 /\ r_39^0-r_39^post54 == 0 /\ -a_147^post54+a_147^0 == 0 /\ a_260^0-a_260^post54 == 0 /\ -__disjvr_30^post54+__disjvr_30^0 == 0 /\ __disjvr_26^0-__disjvr_26^post54 == 0 /\ -__disjvr_21^post54+__disjvr_21^0 == 0 /\ -a_184^post54+a_184^0 == 0 /\ __disjvr_5^0-__disjvr_5^post54 == 0 /\ -__disjvr_6^post54+__disjvr_6^0 == 0 /\ -length_29^post54+length_29^0 == 0 /\ -__disjvr_28^post54+__disjvr_28^0 == 0 /\ a_215^0-a_215^post54 == 0 /\ -__disjvr_8^post54+__disjvr_8^0 == 0 /\ -__disjvr_27^post54+__disjvr_27^0 == 0 /\ result_11^0-result_11^post54 == 0 /\ r_163^0-r_163^post54 == 0 /\ -temp0_31^post54+temp0_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post54 == 0 /\ __disjvr_11^0-__disjvr_11^post54 == 0 /\ -__disjvr_13^post54+__disjvr_13^0 == 0 /\ y_19^0-y_19^post54 == 0 /\ tmp_34^0-tmp_34^post54 == 0 /\ -i_167^post54+i_167^0 == 0 /\ -__disjvr_1^post54+__disjvr_1^0 == 0 /\ -rcd_58^post54+rcd_58^0 == 0 /\ -head_27^post54+head_27^0 == 0 /\ -__disjvr_17^post54+__disjvr_17^0 == 0 /\ -__disjvr_4^post54+__disjvr_4^0 == 0), cost: 1
  52: l51 -> l52 : __disjvr_0^0'=__disjvr_0^post52, a_215^0'=a_215^post52, x_SLAM_f_18^0'=x_SLAM_f_18^post52, __disjvr_21^0'=__disjvr_21^post52, __disjvr_3^0'=__disjvr_3^post52, result_11^0'=result_11^post52, __disjvr_14^0'=__disjvr_14^post52, head_129^0'=head_129^post52, __disjvr_24^0'=__disjvr_24^post52, len_183^0'=len_183^post52, __disjvr_8^0'=__disjvr_8^post52, a_116^0'=a_116^post52, tmp_34^0'=tmp_34^post52, __disjvr_19^0'=__disjvr_19^post52, head_SLAM_f_26^0'=head_SLAM_f_26^post52, __disjvr_29^0'=__disjvr_29^post52, r_39^0'=r_39^post52, __disjvr_11^0'=__disjvr_11^post52, a_260^0'=a_260^post52, i_30^0'=i_30^post52, __disjvr_5^0'=__disjvr_5^post52, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post52, __disjvr_16^0'=__disjvr_16^post52, head_175^0'=head_175^post52, __disjvr_26^0'=__disjvr_26^post52, nondet_12^0'=nondet_12^post52, a_184^0'=a_184^post52, x_20^0'=x_20^post52, __disjvr_20^0'=__disjvr_20^post52, i_167^0'=i_167^post52, __disjvr_30^0'=__disjvr_30^post52, rcd_88^0'=rcd_88^post52, __disjvr_13^0'=__disjvr_13^post52, f_170^0'=f_170^post52, __disjvr_23^0'=__disjvr_23^post52, len_132^0'=len_132^post52, __disjvr_7^0'=__disjvr_7^post52, temp0_15^0'=temp0_15^post52, temp_35^0'=temp_35^post52, __disjvr_18^0'=__disjvr_18^post52, head_32^0'=head_32^post52, __disjvr_28^0'=__disjvr_28^post52, r_163^0'=r_163^post52, __disjvr_10^0'=__disjvr_10^post52, a_237^0'=a_237^post52, y_19^0'=y_19^post52, __disjvr_22^0'=__disjvr_22^post52, __disjvr_4^0'=__disjvr_4^post52, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52, __disjvr_15^0'=__disjvr_15^post52, head_14^0'=head_14^post52, __disjvr_25^0'=__disjvr_25^post52, length_29^0'=length_29^post52, __disjvr_9^0'=__disjvr_9^post52, a_147^0'=a_147^post52, x_16^0'=x_16^post52, __disjvr_1^0'=__disjvr_1^post52, i_108^0'=i_108^post52, __disjvr_2^0'=__disjvr_2^post52, rcd_58^0'=rcd_58^post52, __disjvr_12^0'=__disjvr_12^post52, ct_17^0'=ct_17^post52, i_94^0'=i_94^post52, __disjvr_6^0'=__disjvr_6^post52, t_23^0'=t_23^post52, temp0_31^0'=temp0_31^post52, __disjvr_17^0'=__disjvr_17^post52, head_27^0'=head_27^post52, __disjvr_27^0'=__disjvr_27^post52, r_124^0'=r_124^post52, (-a_237^post52+a_237^0 == 0 /\ -x_16^post52+x_16^0 == 0 /\ -r_124^post52+r_124^0 == 0 /\ -__disjvr_16^post52+__disjvr_16^0 == 0 /\ -__disjvr_25^post52+__disjvr_25^0 == 0 /\ i_108^0-i_108^post52 == 0 /\ temp_35^0-temp_35^post52 == 0 /\ a_215^0-a_215^post52 == 0 /\ -__disjvr_22^post52+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post52 == 0 /\ temp0_15^0-temp0_15^post52 == 0 /\ -rcd_88^post52+rcd_88^0 == 0 /\ -__disjvr_13^post52+__disjvr_13^0 == 0 /\ __disjvr_5^0-__disjvr_5^post52 == 0 /\ -__disjvr_24^0+__disjvr_24^post52 == 0 /\ __disjvr_10^0-__disjvr_10^post52 == 0 /\ -__disjvr_9^post52+__disjvr_9^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post52 == 0 /\ f_170^0-f_170^post52 == 0 /\ __disjvr_19^0-__disjvr_19^post52 == 0 /\ -__disjvr_27^post52+__disjvr_27^0 == 0 /\ __disjvr_20^0-__disjvr_20^post52 == 0 /\ -head_14^post52+head_14^0 == 0 /\ -length_29^post52+length_29^0 == 0 /\ __disjvr_18^0-__disjvr_18^post52 == 0 /\ a_116^0-a_116^post52 == 0 /\ i_30^0-i_30^post52 == 0 /\ nondet_12^0-nondet_12^post52 == 0 /\ -t_23^post52+t_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post52 == 0 /\ __disjvr_2^0-__disjvr_2^post52 == 0 /\ -i_94^post52+i_94^0 == 0 /\ -__disjvr_12^post52+__disjvr_12^0 == 0 /\ __disjvr_7^0-__disjvr_7^post52 == 0 /\ head_32^0-head_32^post52 == 0 /\ __disjvr_3^0-__disjvr_3^post52 == 0 /\ -len_132^post52+len_132^0 == 0 /\ -__disjvr_15^post52+__disjvr_15^0 == 0 /\ r_39^0-r_39^post52 == 0 /\ -__disjvr_17^post52+__disjvr_17^0 == 0 /\ a_260^0-a_260^post52 == 0 /\ -a_147^post52+a_147^0 == 0 /\ -__disjvr_21^post52+__disjvr_21^0 == 0 /\ -__disjvr_6^post52+__disjvr_6^0 == 0 /\ __disjvr_0^0-__disjvr_0^post52 == 0 /\ -a_184^post52+a_184^0 == 0 /\ __disjvr_26^0-__disjvr_26^post52 == 0 /\ -ct_17^post52+ct_17^0 == 0 /\ -__disjvr_28^post52+__disjvr_28^0 == 0 /\ result_11^0-result_11^post52 == 0 /\ -head_SLAM_f_26^post52+head_SLAM_f_26^0 == 0 /\ -__disjvr_8^post52+__disjvr_8^0 == 0 /\ __disjvr_14^0-__disjvr_14^post52 == 0 /\ r_163^0-r_163^post52 == 0 /\ head_129^0-head_129^post52 == 0 /\ __disjvr_29^0-__disjvr_29^post52 == 0 /\ y_19^0-y_19^post52 == 0 /\ -__disjvr_1^post52+__disjvr_1^0 == 0 /\ __disjvr_11^0-__disjvr_11^post52 == 0 /\ -head_175^post52+head_175^0 == 0 /\ -temp0_31^post52+temp0_31^0 == 0 /\ __disjvr_23^0-__disjvr_23^post52 == 0 /\ tmp_34^0-tmp_34^post52 == 0 /\ x_20^0-x_20^post52 == 0 /\ -i_167^post52+i_167^0 == 0 /\ len_183^0-len_183^post52 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post52 == 0 /\ -rcd_58^post52+rcd_58^0 == 0 /\ -head_27^post52+head_27^0 == 0 /\ -__disjvr_30^post52+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post52+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0), cost: 1
  53: l52 -> l18 : __disjvr_0^0'=__disjvr_0^post53, a_215^0'=a_215^post53, x_SLAM_f_18^0'=x_SLAM_f_18^post53, __disjvr_21^0'=__disjvr_21^post53, __disjvr_3^0'=__disjvr_3^post53, result_11^0'=result_11^post53, __disjvr_14^0'=__disjvr_14^post53, head_129^0'=head_129^post53, __disjvr_24^0'=__disjvr_24^post53, len_183^0'=len_183^post53, __disjvr_8^0'=__disjvr_8^post53, a_116^0'=a_116^post53, tmp_34^0'=tmp_34^post53, __disjvr_19^0'=__disjvr_19^post53, head_SLAM_f_26^0'=head_SLAM_f_26^post53, __disjvr_29^0'=__disjvr_29^post53, r_39^0'=r_39^post53, __disjvr_11^0'=__disjvr_11^post53, a_260^0'=a_260^post53, i_30^0'=i_30^post53, __disjvr_5^0'=__disjvr_5^post53, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post53, __disjvr_16^0'=__disjvr_16^post53, head_175^0'=head_175^post53, __disjvr_26^0'=__disjvr_26^post53, nondet_12^0'=nondet_12^post53, a_184^0'=a_184^post53, x_20^0'=x_20^post53, __disjvr_20^0'=__disjvr_20^post53, i_167^0'=i_167^post53, __disjvr_30^0'=__disjvr_30^post53, rcd_88^0'=rcd_88^post53, __disjvr_13^0'=__disjvr_13^post53, f_170^0'=f_170^post53, __disjvr_23^0'=__disjvr_23^post53, len_132^0'=len_132^post53, __disjvr_7^0'=__disjvr_7^post53, temp0_15^0'=temp0_15^post53, temp_35^0'=temp_35^post53, __disjvr_18^0'=__disjvr_18^post53, head_32^0'=head_32^post53, __disjvr_28^0'=__disjvr_28^post53, r_163^0'=r_163^post53, __disjvr_10^0'=__disjvr_10^post53, a_237^0'=a_237^post53, y_19^0'=y_19^post53, __disjvr_22^0'=__disjvr_22^post53, __disjvr_4^0'=__disjvr_4^post53, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53, __disjvr_15^0'=__disjvr_15^post53, head_14^0'=head_14^post53, __disjvr_25^0'=__disjvr_25^post53, length_29^0'=length_29^post53, __disjvr_9^0'=__disjvr_9^post53, a_147^0'=a_147^post53, x_16^0'=x_16^post53, __disjvr_1^0'=__disjvr_1^post53, i_108^0'=i_108^post53, __disjvr_2^0'=__disjvr_2^post53, rcd_58^0'=rcd_58^post53, __disjvr_12^0'=__disjvr_12^post53, ct_17^0'=ct_17^post53, i_94^0'=i_94^post53, __disjvr_6^0'=__disjvr_6^post53, t_23^0'=t_23^post53, temp0_31^0'=temp0_31^post53, __disjvr_17^0'=__disjvr_17^post53, head_27^0'=head_27^post53, __disjvr_27^0'=__disjvr_27^post53, r_124^0'=r_124^post53, (i_30^0-i_30^post53 == 0 /\ head_175^0-head_175^post53 == 0 /\ head_129^0-head_129^post53 == 0 /\ -__disjvr_15^post53+__disjvr_15^0 == 0 /\ -__disjvr_30^post53+__disjvr_30^0 == 0 /\ rcd_58^0-rcd_58^post53 == 0 /\ __disjvr_1^0-__disjvr_1^post53 == 0 /\ __disjvr_8^0-__disjvr_8^post53 == 0 /\ -len_132^post53+len_132^0 == 0 /\ x_16^0-x_16^post53 == 0 /\ -__disjvr_17^post53+__disjvr_17^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post53 == 0 /\ a_116^0-a_116^post53 == 0 /\ -__disjvr_23^post53+__disjvr_23^0 == 0 /\ -__disjvr_6^post53+__disjvr_6^0 == 0 /\ -y_19^post53+y_19^0 == 0 /\ -ct_17^post53+ct_17^0 == 0 /\ -__disjvr_2^post53+__disjvr_2^0 == 0 /\ rcd_88^0-rcd_88^post53 == 0 /\ -temp0_31^post53+temp0_31^0 == 0 /\ i_167^0-i_167^post53 == 0 /\ a_260^0-a_260^post53 == 0 /\ tmp_34^0-tmp_34^post53 == 0 /\ -a_147^post53+a_147^0 == 0 /\ __disjvr_14^0-__disjvr_14^post53 == 0 /\ __disjvr_5^0-__disjvr_5^post53 == 0 /\ __disjvr_0^0-__disjvr_0^post53 == 0 /\ __disjvr_16^0-__disjvr_16^post53 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post53+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ r_163^0-r_163^post53 == 0 /\ -head_32^post53+head_32^0 == 0 /\ -__disjvr_19^post53+__disjvr_19^0 == 0 /\ -head_27^post53+head_27^0 == 0 /\ f_170^0-f_170^post53 == 0 /\ -__disjvr_4^post53+__disjvr_4^0 == 0 /\ head_14^0-head_14^post53 == 0 /\ __disjvr_20^0-__disjvr_20^post53 == 0 /\ nondet_12^0-nondet_12^post53 == 0 /\ -r_124^post53+r_124^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post53 == 0 /\ -__disjvr_25^post53+__disjvr_25^0 == 0 /\ -__disjvr_22^post53+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post53 == 0 /\ -temp_35^post53+temp_35^0 == 0 /\ -__disjvr_7^post53+__disjvr_7^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post53 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_183^0-len_183^post53 == 0 /\ x_20^0-x_20^post53 == 0 /\ -__disjvr_3^post53+__disjvr_3^0 == 0 /\ -__disjvr_10^post53+__disjvr_10^0 == 0 /\ -a_237^post53+a_237^0 == 0 /\ -__disjvr_29^post53+__disjvr_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post53 == 0 /\ -i_94^post53+i_94^0 == 0 /\ -__disjvr_27^post53+__disjvr_27^0 == 0 /\ -__disjvr_26^post53+__disjvr_26^0 == 0 /\ a_184^0-a_184^post53 == 0 /\ r_39^0-r_39^post53 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_9^post53+__disjvr_9^0 == 0 /\ -length_29^post53+length_29^0 == 0 /\ a_215^0-a_215^post53 == 0 /\ __disjvr_28^0-__disjvr_28^post53 == 0 /\ __disjvr_18^0-__disjvr_18^post53 == 0 /\ temp0_15^0-temp0_15^post53 == 0 /\ -i_108^post53+i_108^0 == 0 /\ result_11^0-result_11^post53 == 0 /\ -__disjvr_12^post53+__disjvr_12^0 == 0 /\ __disjvr_13^0-__disjvr_13^post53 == 0 /\ -t_23^post53+t_23^0 == 0 /\ -__disjvr_11^post53+__disjvr_11^0 == 0), cost: 1
  55: l53 -> l54 : __disjvr_0^0'=__disjvr_0^post55, a_215^0'=a_215^post55, x_SLAM_f_18^0'=x_SLAM_f_18^post55, __disjvr_21^0'=__disjvr_21^post55, __disjvr_3^0'=__disjvr_3^post55, result_11^0'=result_11^post55, __disjvr_14^0'=__disjvr_14^post55, head_129^0'=head_129^post55, __disjvr_24^0'=__disjvr_24^post55, len_183^0'=len_183^post55, __disjvr_8^0'=__disjvr_8^post55, a_116^0'=a_116^post55, tmp_34^0'=tmp_34^post55, __disjvr_19^0'=__disjvr_19^post55, head_SLAM_f_26^0'=head_SLAM_f_26^post55, __disjvr_29^0'=__disjvr_29^post55, r_39^0'=r_39^post55, __disjvr_11^0'=__disjvr_11^post55, a_260^0'=a_260^post55, i_30^0'=i_30^post55, __disjvr_5^0'=__disjvr_5^post55, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post55, __disjvr_16^0'=__disjvr_16^post55, head_175^0'=head_175^post55, __disjvr_26^0'=__disjvr_26^post55, nondet_12^0'=nondet_12^post55, a_184^0'=a_184^post55, x_20^0'=x_20^post55, __disjvr_20^0'=__disjvr_20^post55, i_167^0'=i_167^post55, __disjvr_30^0'=__disjvr_30^post55, rcd_88^0'=rcd_88^post55, __disjvr_13^0'=__disjvr_13^post55, f_170^0'=f_170^post55, __disjvr_23^0'=__disjvr_23^post55, len_132^0'=len_132^post55, __disjvr_7^0'=__disjvr_7^post55, temp0_15^0'=temp0_15^post55, temp_35^0'=temp_35^post55, __disjvr_18^0'=__disjvr_18^post55, head_32^0'=head_32^post55, __disjvr_28^0'=__disjvr_28^post55, r_163^0'=r_163^post55, __disjvr_10^0'=__disjvr_10^post55, a_237^0'=a_237^post55, y_19^0'=y_19^post55, __disjvr_22^0'=__disjvr_22^post55, __disjvr_4^0'=__disjvr_4^post55, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55, __disjvr_15^0'=__disjvr_15^post55, head_14^0'=head_14^post55, __disjvr_25^0'=__disjvr_25^post55, length_29^0'=length_29^post55, __disjvr_9^0'=__disjvr_9^post55, a_147^0'=a_147^post55, x_16^0'=x_16^post55, __disjvr_1^0'=__disjvr_1^post55, i_108^0'=i_108^post55, __disjvr_2^0'=__disjvr_2^post55, rcd_58^0'=rcd_58^post55, __disjvr_12^0'=__disjvr_12^post55, ct_17^0'=ct_17^post55, i_94^0'=i_94^post55, __disjvr_6^0'=__disjvr_6^post55, t_23^0'=t_23^post55, temp0_31^0'=temp0_31^post55, __disjvr_17^0'=__disjvr_17^post55, head_27^0'=head_27^post55, __disjvr_27^0'=__disjvr_27^post55, r_124^0'=r_124^post55, (-y_19^post55+y_19^0 == 0 /\ rcd_58^0-rcd_58^post55 == 0 /\ head_129^0-head_129^post55 == 0 /\ i_30^0-i_30^post55 == 0 /\ -__disjvr_15^post55+__disjvr_15^0 == 0 /\ -ct_17^post55+ct_17^0 == 0 /\ x_16^0-x_16^post55 == 0 /\ __disjvr_0^0-__disjvr_0^post55 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post55+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -f_170^post55+f_170^0 == 0 /\ -__disjvr_6^post55+__disjvr_6^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post55 == 0 /\ -__disjvr_9^post55+__disjvr_9^0 == 0 /\ a_116^0-a_116^post55 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post55 == 0 /\ -__disjvr_27^post55+__disjvr_27^0 == 0 /\ -__disjvr_2^post55+__disjvr_2^0 == 0 /\ -nondet_12^post55+nondet_12^0 == 0 /\ a_184^0-a_184^post55 == 0 /\ rcd_88^0-rcd_88^post55 == 0 /\ -__disjvr_1^post55+__disjvr_1^0 == 0 /\ a_260^0-a_260^post55 == 0 /\ -a_147^post55+a_147^0 == 0 /\ -__disjvr_4^post55+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post55 == 0 /\ a_215^0-a_215^post55 == 0 /\ __disjvr_5^0-__disjvr_5^post55 == 0 /\ __disjvr_28^0-__disjvr_28^post55 == 0 /\ -r_163^post55+r_163^0 == 0 /\ __disjvr_26^0-__disjvr_26^post55 == 0 /\ -head_32^post55+head_32^0 == 0 /\ -head_27^post55+head_27^0 == 0 /\ -__disjvr_17^post55+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post55 == 0 /\ len_132^0-len_132^post55 == 0 /\ __disjvr_30^0-__disjvr_30^post55 == 0 /\ head_175^0-head_175^post55 == 0 /\ -temp_35^post55+temp_35^0 == 0 /\ __disjvr_13^0-__disjvr_13^post55 == 0 /\ __disjvr_18^0-__disjvr_18^post55 == 0 /\ -__disjvr_25^post55+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post55 == 0 /\ __disjvr_21^0-__disjvr_21^post55 == 0 /\ -x_20^post55+x_20^0 == 0 /\ -__disjvr_7^post55+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post55 == 0 /\ __disjvr_8^0-__disjvr_8^post55 == 0 /\ -__disjvr_3^post55+__disjvr_3^0 == 0 /\ len_183^0-len_183^post55 == 0 /\ -__disjvr_29^post55+__disjvr_29^0 == 0 /\ -temp0_31^post55+temp0_31^0 == 0 /\ -__disjvr_22^post55+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post55 == 0 /\ -__disjvr_10^post55+__disjvr_10^0 == 0 /\ -temp0_15^post55+temp0_15^0 == 0 /\ -head_14^post55+head_14^0 == 0 /\ a_237^0-a_237^post55 == 0 /\ -__disjvr_12^post55+__disjvr_12^0 == 0 /\ -i_108^post55+i_108^0 == 0 /\ -length_29^post55+length_29^0 == 0 /\ -__disjvr_23^post55+__disjvr_23^0 == 0 /\ __disjvr_25^post55-__disjvr_25^0 == 0 /\ r_39^0-r_39^post55 == 0 /\ i_167^0-i_167^post55 == 0 /\ -__disjvr_20^post55+__disjvr_20^0 == 0 /\ __disjvr_16^0-__disjvr_16^post55 == 0 /\ -i_94^post55+i_94^0 == 0 /\ -t_23^post55+t_23^0 == 0 /\ result_11^0-result_11^post55 == 0 /\ -r_124^post55+r_124^0 == 0 /\ -__disjvr_11^post55+__disjvr_11^0 == 0), cost: 1
  56: l54 -> l55 : __disjvr_0^0'=__disjvr_0^post56, a_215^0'=a_215^post56, x_SLAM_f_18^0'=x_SLAM_f_18^post56, __disjvr_21^0'=__disjvr_21^post56, __disjvr_3^0'=__disjvr_3^post56, result_11^0'=result_11^post56, __disjvr_14^0'=__disjvr_14^post56, head_129^0'=head_129^post56, __disjvr_24^0'=__disjvr_24^post56, len_183^0'=len_183^post56, __disjvr_8^0'=__disjvr_8^post56, a_116^0'=a_116^post56, tmp_34^0'=tmp_34^post56, __disjvr_19^0'=__disjvr_19^post56, head_SLAM_f_26^0'=head_SLAM_f_26^post56, __disjvr_29^0'=__disjvr_29^post56, r_39^0'=r_39^post56, __disjvr_11^0'=__disjvr_11^post56, a_260^0'=a_260^post56, i_30^0'=i_30^post56, __disjvr_5^0'=__disjvr_5^post56, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post56, __disjvr_16^0'=__disjvr_16^post56, head_175^0'=head_175^post56, __disjvr_26^0'=__disjvr_26^post56, nondet_12^0'=nondet_12^post56, a_184^0'=a_184^post56, x_20^0'=x_20^post56, __disjvr_20^0'=__disjvr_20^post56, i_167^0'=i_167^post56, __disjvr_30^0'=__disjvr_30^post56, rcd_88^0'=rcd_88^post56, __disjvr_13^0'=__disjvr_13^post56, f_170^0'=f_170^post56, __disjvr_23^0'=__disjvr_23^post56, len_132^0'=len_132^post56, __disjvr_7^0'=__disjvr_7^post56, temp0_15^0'=temp0_15^post56, temp_35^0'=temp_35^post56, __disjvr_18^0'=__disjvr_18^post56, head_32^0'=head_32^post56, __disjvr_28^0'=__disjvr_28^post56, r_163^0'=r_163^post56, __disjvr_10^0'=__disjvr_10^post56, a_237^0'=a_237^post56, y_19^0'=y_19^post56, __disjvr_22^0'=__disjvr_22^post56, __disjvr_4^0'=__disjvr_4^post56, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56, __disjvr_15^0'=__disjvr_15^post56, head_14^0'=head_14^post56, __disjvr_25^0'=__disjvr_25^post56, length_29^0'=length_29^post56, __disjvr_9^0'=__disjvr_9^post56, a_147^0'=a_147^post56, x_16^0'=x_16^post56, __disjvr_1^0'=__disjvr_1^post56, i_108^0'=i_108^post56, __disjvr_2^0'=__disjvr_2^post56, rcd_58^0'=rcd_58^post56, __disjvr_12^0'=__disjvr_12^post56, ct_17^0'=ct_17^post56, i_94^0'=i_94^post56, __disjvr_6^0'=__disjvr_6^post56, t_23^0'=t_23^post56, temp0_31^0'=temp0_31^post56, __disjvr_17^0'=__disjvr_17^post56, head_27^0'=head_27^post56, __disjvr_27^0'=__disjvr_27^post56, r_124^0'=r_124^post56, (a_147^0-a_147^post56 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -a_237^post56+a_237^0 == 0 /\ -x_16^post56+x_16^0 == 0 /\ -__disjvr_10^post56+__disjvr_10^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post56+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ a_215^0-a_215^post56 == 0 /\ __disjvr_5^0-__disjvr_5^post56 == 0 /\ r_163^0-r_163^post56 == 0 /\ temp_35^0-temp_35^post56 == 0 /\ i_30^0-i_30^post56 == 0 /\ temp0_15^0-temp0_15^post56 == 0 /\ -__disjvr_16^post56+__disjvr_16^0 == 0 /\ nondet_12^0-nondet_12^post56 == 0 /\ __disjvr_29^0-__disjvr_29^post56 == 0 /\ __disjvr_19^0-__disjvr_19^post56 == 0 /\ head_129^0-head_129^post56 == 0 /\ -__disjvr_12^post56+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post56 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -length_29^post56+length_29^0 == 0 /\ -__disjvr_23^post56+__disjvr_23^0 == 0 /\ -__disjvr_25^post56+__disjvr_25^0 == 0 /\ -i_94^post56+i_94^0 == 0 /\ -head_SLAM_f_26^post56+head_SLAM_f_26^0 == 0 /\ len_183^0-len_183^post56 == 0 /\ a_260^0-a_260^post56 == 0 /\ -__disjvr_18^post56+__disjvr_18^0 == 0 /\ -r_124^post56+r_124^0 == 0 /\ -i_108^post56+i_108^0 == 0 /\ f_170^0-f_170^post56 == 0 /\ -tmp_34^post56+tmp_34^0 == 0 /\ -t_23^post56+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post56 == 0 /\ -head_27^post56+head_27^0 == 0 /\ -y_19^post56+y_19^0 == 0 /\ -a_184^post56+a_184^0 == 0 /\ __disjvr_7^0-__disjvr_7^post56 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post56+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_2^post56+__disjvr_2^0 == 0 /\ -__disjvr_6^post56+__disjvr_6^0 == 0 /\ -result_11^post56+result_11^0 == 0 /\ -ct_17^post56+ct_17^0 == 0 /\ -__disjvr_9^post56+__disjvr_9^0 == 0 /\ __disjvr_14^0-__disjvr_14^post56 == 0 /\ -__disjvr_27^post56+__disjvr_27^0 == 0 /\ __disjvr_22^0-__disjvr_22^post56 == 0 /\ head_14^0-head_14^post56 == 0 /\ -__disjvr_28^post56+__disjvr_28^0 == 0 /\ __disjvr_26^0-__disjvr_26^post56 == 0 /\ __disjvr_30^0-__disjvr_30^post56 == 0 /\ -__disjvr_13^post56+__disjvr_13^0 == 0 /\ -temp0_31^post56+temp0_31^0 == 0 /\ __disjvr_0^0-__disjvr_0^post56 == 0 /\ __disjvr_4^0-__disjvr_4^post56 == 0 /\ -rcd_88^post56+rcd_88^0 == 0 /\ __disjvr_20^0-__disjvr_20^post56 == 0 /\ -i_167^post56+i_167^0 == 0 /\ -rcd_58^post56+rcd_58^0 == 0 /\ -__disjvr_1^post56+__disjvr_1^0 == 0 /\ -len_132^post56+len_132^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post56 == 0 /\ -r_39^post56+r_39^0 == 0 /\ -head_32^post56+head_32^0 == 0 /\ a_116^0-a_116^post56 == 0 /\ __disjvr_21^0-__disjvr_21^post56 == 0 /\ -__disjvr_17^post56+__disjvr_17^0 == 0 /\ x_20^0-x_20^post56 == 0 /\ __disjvr_11^0-__disjvr_11^post56 == 0 /\ -__disjvr_15^post56+__disjvr_15^0 == 0 /\ __disjvr_24^0-__disjvr_24^post56 == 0 /\ -head_175^post56+head_175^0 == 0), cost: 1
  57: l55 -> l56 : __disjvr_0^0'=__disjvr_0^post57, a_215^0'=a_215^post57, x_SLAM_f_18^0'=x_SLAM_f_18^post57, __disjvr_21^0'=__disjvr_21^post57, __disjvr_3^0'=__disjvr_3^post57, result_11^0'=result_11^post57, __disjvr_14^0'=__disjvr_14^post57, head_129^0'=head_129^post57, __disjvr_24^0'=__disjvr_24^post57, len_183^0'=len_183^post57, __disjvr_8^0'=__disjvr_8^post57, a_116^0'=a_116^post57, tmp_34^0'=tmp_34^post57, __disjvr_19^0'=__disjvr_19^post57, head_SLAM_f_26^0'=head_SLAM_f_26^post57, __disjvr_29^0'=__disjvr_29^post57, r_39^0'=r_39^post57, __disjvr_11^0'=__disjvr_11^post57, a_260^0'=a_260^post57, i_30^0'=i_30^post57, __disjvr_5^0'=__disjvr_5^post57, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post57, __disjvr_16^0'=__disjvr_16^post57, head_175^0'=head_175^post57, __disjvr_26^0'=__disjvr_26^post57, nondet_12^0'=nondet_12^post57, a_184^0'=a_184^post57, x_20^0'=x_20^post57, __disjvr_20^0'=__disjvr_20^post57, i_167^0'=i_167^post57, __disjvr_30^0'=__disjvr_30^post57, rcd_88^0'=rcd_88^post57, __disjvr_13^0'=__disjvr_13^post57, f_170^0'=f_170^post57, __disjvr_23^0'=__disjvr_23^post57, len_132^0'=len_132^post57, __disjvr_7^0'=__disjvr_7^post57, temp0_15^0'=temp0_15^post57, temp_35^0'=temp_35^post57, __disjvr_18^0'=__disjvr_18^post57, head_32^0'=head_32^post57, __disjvr_28^0'=__disjvr_28^post57, r_163^0'=r_163^post57, __disjvr_10^0'=__disjvr_10^post57, a_237^0'=a_237^post57, y_19^0'=y_19^post57, __disjvr_22^0'=__disjvr_22^post57, __disjvr_4^0'=__disjvr_4^post57, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57, __disjvr_15^0'=__disjvr_15^post57, head_14^0'=head_14^post57, __disjvr_25^0'=__disjvr_25^post57, length_29^0'=length_29^post57, __disjvr_9^0'=__disjvr_9^post57, a_147^0'=a_147^post57, x_16^0'=x_16^post57, __disjvr_1^0'=__disjvr_1^post57, i_108^0'=i_108^post57, __disjvr_2^0'=__disjvr_2^post57, rcd_58^0'=rcd_58^post57, __disjvr_12^0'=__disjvr_12^post57, ct_17^0'=ct_17^post57, i_94^0'=i_94^post57, __disjvr_6^0'=__disjvr_6^post57, t_23^0'=t_23^post57, temp0_31^0'=temp0_31^post57, __disjvr_17^0'=__disjvr_17^post57, head_27^0'=head_27^post57, __disjvr_27^0'=__disjvr_27^post57, r_124^0'=r_124^post57, (-f_170^post57+f_170^0 == 0 /\ -ct_17^post57+ct_17^0 == 0 /\ -__disjvr_15^post57+__disjvr_15^0 == 0 /\ -__disjvr_17^post57+__disjvr_17^0 == 0 /\ __disjvr_20^0-__disjvr_20^post57 == 0 /\ len_132^0-len_132^post57 == 0 /\ __disjvr_8^0-__disjvr_8^post57 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post57 == 0 /\ -__disjvr_27^post57+__disjvr_27^0 == 0 /\ -head_27^post57+head_27^0 == 0 /\ a_260^0-a_260^post57 == 0 /\ -length_29^post57+length_29^0 == 0 /\ -__disjvr_30^post57+__disjvr_30^0 == 0 /\ -__disjvr_2^post57+__disjvr_2^0 == 0 /\ -i_30^post57+i_30^0 == 0 /\ -__disjvr_9^post57+__disjvr_9^0 == 0 /\ -__disjvr_6^post57+__disjvr_6^0 == 0 /\ __disjvr_24^0-__disjvr_24^post57 == 0 /\ a_116^0-a_116^post57 == 0 /\ -__disjvr_28^post57+__disjvr_28^0 == 0 /\ __disjvr_3^0-__disjvr_3^post57 == 0 /\ -__disjvr_19^post57+__disjvr_19^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post57 == 0 /\ -__disjvr_1^post57+__disjvr_1^0 == 0 /\ -__disjvr_13^post57+__disjvr_13^0 == 0 /\ -temp0_31^post57+temp0_31^0 == 0 /\ tmp_34^0-tmp_34^post57 == 0 /\ -__disjvr_4^post57+__disjvr_4^0 == 0 /\ -__disjvr_29^post57+__disjvr_29^0 == 0 /\ i_108^0-i_108^post57 == 0 /\ __disjvr_23^0-__disjvr_23^post57 == 0 /\ -rcd_58^post57+rcd_58^0 == 0 /\ -i_167^post57+i_167^0 == 0 /\ __disjvr_16^0-__disjvr_16^post57 == 0 /\ -r_163^post57+r_163^0 == 0 /\ a_147^0-a_147^post57 == 0 /\ __disjvr_12^0-__disjvr_12^post57 == 0 /\ head_175^0-head_175^post57 == 0 /\ temp0_15^0-temp0_15^post57 == 0 /\ -__disjvr_11^post57+__disjvr_11^0 == 0 /\ nondet_12^0-nondet_12^post57 == 0 /\ head_129^0-head_129^post57 == 0 /\ -__disjvr_10^post57+__disjvr_10^0 == 0 /\ -x_16^post57+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post57 == 0 /\ y_19^0-y_19^post57 == 0 /\ __disjvr_25^0-__disjvr_25^post57 == 0 /\ __disjvr_26^post57-__disjvr_26^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post57 == 0 /\ -__disjvr_22^post57+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post57 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post57 == 0 /\ -a_237^post57+a_237^0 == 0 /\ rcd_88^0-rcd_88^post57 == 0 /\ len_183^0-len_183^post57 == 0 /\ x_20^0-x_20^post57 == 0 /\ head_32^0-head_32^post57 == 0 /\ a_184^0-a_184^post57 == 0 /\ -head_14^post57+head_14^0 == 0 /\ -__disjvr_26^post57+__disjvr_26^0 == 0 /\ __disjvr_14^0-__disjvr_14^post57 == 0 /\ r_39^0-r_39^post57 == 0 /\ -__disjvr_18^post57+__disjvr_18^0 == 0 /\ a_215^0-a_215^post57 == 0 /\ -r_124^post57+r_124^0 == 0 /\ result_11^0-result_11^post57 == 0 /\ -i_94^post57+i_94^0 == 0 /\ temp_35^0-temp_35^post57 == 0 /\ __disjvr_5^0-__disjvr_5^post57 == 0 /\ -__disjvr_7^post57+__disjvr_7^0 == 0 /\ -t_23^post57+t_23^0 == 0), cost: 1
  58: l56 -> l57 : __disjvr_0^0'=__disjvr_0^post58, a_215^0'=a_215^post58, x_SLAM_f_18^0'=x_SLAM_f_18^post58, __disjvr_21^0'=__disjvr_21^post58, __disjvr_3^0'=__disjvr_3^post58, result_11^0'=result_11^post58, __disjvr_14^0'=__disjvr_14^post58, head_129^0'=head_129^post58, __disjvr_24^0'=__disjvr_24^post58, len_183^0'=len_183^post58, __disjvr_8^0'=__disjvr_8^post58, a_116^0'=a_116^post58, tmp_34^0'=tmp_34^post58, __disjvr_19^0'=__disjvr_19^post58, head_SLAM_f_26^0'=head_SLAM_f_26^post58, __disjvr_29^0'=__disjvr_29^post58, r_39^0'=r_39^post58, __disjvr_11^0'=__disjvr_11^post58, a_260^0'=a_260^post58, i_30^0'=i_30^post58, __disjvr_5^0'=__disjvr_5^post58, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post58, __disjvr_16^0'=__disjvr_16^post58, head_175^0'=head_175^post58, __disjvr_26^0'=__disjvr_26^post58, nondet_12^0'=nondet_12^post58, a_184^0'=a_184^post58, x_20^0'=x_20^post58, __disjvr_20^0'=__disjvr_20^post58, i_167^0'=i_167^post58, __disjvr_30^0'=__disjvr_30^post58, rcd_88^0'=rcd_88^post58, __disjvr_13^0'=__disjvr_13^post58, f_170^0'=f_170^post58, __disjvr_23^0'=__disjvr_23^post58, len_132^0'=len_132^post58, __disjvr_7^0'=__disjvr_7^post58, temp0_15^0'=temp0_15^post58, temp_35^0'=temp_35^post58, __disjvr_18^0'=__disjvr_18^post58, head_32^0'=head_32^post58, __disjvr_28^0'=__disjvr_28^post58, r_163^0'=r_163^post58, __disjvr_10^0'=__disjvr_10^post58, a_237^0'=a_237^post58, y_19^0'=y_19^post58, __disjvr_22^0'=__disjvr_22^post58, __disjvr_4^0'=__disjvr_4^post58, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58, __disjvr_15^0'=__disjvr_15^post58, head_14^0'=head_14^post58, __disjvr_25^0'=__disjvr_25^post58, length_29^0'=length_29^post58, __disjvr_9^0'=__disjvr_9^post58, a_147^0'=a_147^post58, x_16^0'=x_16^post58, __disjvr_1^0'=__disjvr_1^post58, i_108^0'=i_108^post58, __disjvr_2^0'=__disjvr_2^post58, rcd_58^0'=rcd_58^post58, __disjvr_12^0'=__disjvr_12^post58, ct_17^0'=ct_17^post58, i_94^0'=i_94^post58, __disjvr_6^0'=__disjvr_6^post58, t_23^0'=t_23^post58, temp0_31^0'=temp0_31^post58, __disjvr_17^0'=__disjvr_17^post58, head_27^0'=head_27^post58, __disjvr_27^0'=__disjvr_27^post58, r_124^0'=r_124^post58, (-temp_35^post58+temp_35^0 == 0 /\ -x_16^post58+x_16^0 == 0 /\ -x_20^post58+x_20^0 == 0 /\ __disjvr_27^post58-__disjvr_27^0 == 0 /\ -r_124^post58+r_124^0 == 0 /\ -__disjvr_25^post58+__disjvr_25^0 == 0 /\ __disjvr_1^0-__disjvr_1^post58 == 0 /\ -__disjvr_22^post58+__disjvr_22^0 == 0 /\ __disjvr_7^0-__disjvr_7^post58 == 0 /\ result_11^0-result_11^post58 == 0 /\ -a_260^post58+a_260^0 == 0 /\ -__disjvr_5^post58+__disjvr_5^0 == 0 /\ rcd_58^0-rcd_58^post58 == 0 /\ -__disjvr_12^post58+__disjvr_12^0 == 0 /\ __disjvr_26^0-__disjvr_26^post58 == 0 /\ -__disjvr_23^post58+__disjvr_23^0 == 0 /\ -__disjvr_9^post58+__disjvr_9^0 == 0 /\ __disjvr_0^0-__disjvr_0^post58 == 0 /\ -head_14^post58+head_14^0 == 0 /\ __disjvr_13^0-__disjvr_13^post58 == 0 /\ -tmp_34^post58+tmp_34^0 == 0 /\ -__disjvr_27^post58+__disjvr_27^0 == 0 /\ head_129^0-head_129^post58 == 0 /\ __disjvr_30^0-__disjvr_30^post58 == 0 /\ ct_17^0-ct_17^post58 == 0 /\ __disjvr_21^0-__disjvr_21^post58 == 0 /\ -t_23^post58+t_23^0 == 0 /\ -__disjvr_20^post58+__disjvr_20^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post58 == 0 /\ -i_94^post58+i_94^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post58 == 0 /\ len_183^0-len_183^post58 == 0 /\ __disjvr_11^0-__disjvr_11^post58 == 0 /\ len_132^0-len_132^post58 == 0 /\ -i_108^post58+i_108^0 == 0 /\ -__disjvr_17^post58+__disjvr_17^0 == 0 /\ a_184^0-a_184^post58 == 0 /\ __disjvr_15^0-__disjvr_15^post58 == 0 /\ a_237^0-a_237^post58 == 0 /\ -a_147^post58+a_147^0 == 0 /\ i_167^0-i_167^post58 == 0 /\ __disjvr_16^0-__disjvr_16^post58 == 0 /\ a_215^0-a_215^post58 == 0 /\ -__disjvr_2^post58+__disjvr_2^0 == 0 /\ -nondet_12^post58+nondet_12^0 == 0 /\ -length_29^post58+length_29^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post58+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_27^post58+head_27^0 == 0 /\ __disjvr_29^0-__disjvr_29^post58 == 0 /\ -__disjvr_6^post58+__disjvr_6^0 == 0 /\ -__disjvr_28^post58+__disjvr_28^0 == 0 /\ -temp0_15^post58+temp0_15^0 == 0 /\ __disjvr_14^0-__disjvr_14^post58 == 0 /\ i_30^0-i_30^post58 == 0 /\ __disjvr_3^0-__disjvr_3^post58 == 0 /\ -y_19^post58+y_19^0 == 0 /\ -r_39^post58+r_39^0 == 0 /\ __disjvr_10^0-__disjvr_10^post58 == 0 /\ -temp0_31^post58+temp0_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post58 == 0 /\ head_175^0-head_175^post58 == 0 /\ __disjvr_18^0-__disjvr_18^post58 == 0 /\ -rcd_88^post58+rcd_88^0 == 0 /\ -__disjvr_4^post58+__disjvr_4^0 == 0 /\ __disjvr_8^0-__disjvr_8^post58 == 0 /\ __disjvr_24^0-__disjvr_24^post58 == 0 /\ -head_32^post58+head_32^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post58 == 0 /\ f_170^0-f_170^post58 == 0 /\ -r_163^post58+r_163^0 == 0 /\ a_116^0-a_116^post58 == 0), cost: 1
  59: l57 -> l41 : __disjvr_0^0'=__disjvr_0^post59, a_215^0'=a_215^post59, x_SLAM_f_18^0'=x_SLAM_f_18^post59, __disjvr_21^0'=__disjvr_21^post59, __disjvr_3^0'=__disjvr_3^post59, result_11^0'=result_11^post59, __disjvr_14^0'=__disjvr_14^post59, head_129^0'=head_129^post59, __disjvr_24^0'=__disjvr_24^post59, len_183^0'=len_183^post59, __disjvr_8^0'=__disjvr_8^post59, a_116^0'=a_116^post59, tmp_34^0'=tmp_34^post59, __disjvr_19^0'=__disjvr_19^post59, head_SLAM_f_26^0'=head_SLAM_f_26^post59, __disjvr_29^0'=__disjvr_29^post59, r_39^0'=r_39^post59, __disjvr_11^0'=__disjvr_11^post59, a_260^0'=a_260^post59, i_30^0'=i_30^post59, __disjvr_5^0'=__disjvr_5^post59, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post59, __disjvr_16^0'=__disjvr_16^post59, head_175^0'=head_175^post59, __disjvr_26^0'=__disjvr_26^post59, nondet_12^0'=nondet_12^post59, a_184^0'=a_184^post59, x_20^0'=x_20^post59, __disjvr_20^0'=__disjvr_20^post59, i_167^0'=i_167^post59, __disjvr_30^0'=__disjvr_30^post59, rcd_88^0'=rcd_88^post59, __disjvr_13^0'=__disjvr_13^post59, f_170^0'=f_170^post59, __disjvr_23^0'=__disjvr_23^post59, len_132^0'=len_132^post59, __disjvr_7^0'=__disjvr_7^post59, temp0_15^0'=temp0_15^post59, temp_35^0'=temp_35^post59, __disjvr_18^0'=__disjvr_18^post59, head_32^0'=head_32^post59, __disjvr_28^0'=__disjvr_28^post59, r_163^0'=r_163^post59, __disjvr_10^0'=__disjvr_10^post59, a_237^0'=a_237^post59, y_19^0'=y_19^post59, __disjvr_22^0'=__disjvr_22^post59, __disjvr_4^0'=__disjvr_4^post59, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59, __disjvr_15^0'=__disjvr_15^post59, head_14^0'=head_14^post59, __disjvr_25^0'=__disjvr_25^post59, length_29^0'=length_29^post59, __disjvr_9^0'=__disjvr_9^post59, a_147^0'=a_147^post59, x_16^0'=x_16^post59, __disjvr_1^0'=__disjvr_1^post59, i_108^0'=i_108^post59, __disjvr_2^0'=__disjvr_2^post59, rcd_58^0'=rcd_58^post59, __disjvr_12^0'=__disjvr_12^post59, ct_17^0'=ct_17^post59, i_94^0'=i_94^post59, __disjvr_6^0'=__disjvr_6^post59, t_23^0'=t_23^post59, temp0_31^0'=temp0_31^post59, __disjvr_17^0'=__disjvr_17^post59, head_27^0'=head_27^post59, __disjvr_27^0'=__disjvr_27^post59, r_124^0'=r_124^post59, (__disjvr_30^0-__disjvr_30^post59 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post59+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -y_19^post59+y_19^0 == 0 /\ -__disjvr_17^post59+__disjvr_17^0 == 0 /\ temp0_15^0-temp0_15^post59 == 0 /\ head_175^0-head_175^post59 == 0 /\ __disjvr_14^0-__disjvr_14^post59 == 0 /\ __disjvr_13^0-__disjvr_13^post59 == 0 /\ -__disjvr_15^post59+__disjvr_15^0 == 0 /\ -i_108^post59+i_108^0 == 0 /\ -a_147^post59+a_147^0 == 0 /\ __disjvr_21^0-__disjvr_21^post59 == 0 /\ -__disjvr_6^post59+__disjvr_6^0 == 0 /\ __disjvr_24^0-__disjvr_24^post59 == 0 /\ -head_27^post59+head_27^0 == 0 /\ -ct_17^post59+ct_17^0 == 0 /\ len_183^0-len_183^post59 == 0 /\ -i_30^post59+i_30^0 == 0 /\ x_20^0-x_20^post59 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post59 == 0 /\ nondet_12^0-nondet_12^post59 == 0 /\ -__disjvr_2^post59+__disjvr_2^0 == 0 /\ head_32^0-head_32^post59 == 0 /\ i_167^0-i_167^post59 == 0 /\ -temp0_31^post59+temp0_31^0 == 0 /\ -rcd_88^post59+rcd_88^0 == 0 /\ -len_132^post59+len_132^0 == 0 /\ -rcd_58^post59+rcd_58^0 == 0 /\ result_11^0-result_11^post59 == 0 /\ __disjvr_3^0-__disjvr_3^post59 == 0 /\ __disjvr_0^0-__disjvr_0^post59 == 0 /\ r_39^0-r_39^post59 == 0 /\ r_163^0-r_163^post59 == 0 /\ -a_237^post59+a_237^0 == 0 /\ __disjvr_26^0-__disjvr_26^post59 == 0 /\ __disjvr_5^0-__disjvr_5^post59 == 0 /\ -temp_35^post59+temp_35^0 == 0 /\ __disjvr_19^0-__disjvr_19^post59 == 0 /\ -x_16^post59+x_16^0 == 0 /\ head_14^0-head_14^post59 == 0 /\ __disjvr_4^0-__disjvr_4^post59 == 0 /\ __disjvr_20^0-__disjvr_20^post59 == 0 /\ -__disjvr_25^post59+__disjvr_25^0 == 0 /\ length_29^0-length_29^post59 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post59 == 0 /\ __disjvr_8^0-__disjvr_8^post59 == 0 /\ head_129^0-head_129^post59 == 0 /\ a_260^0-a_260^post59 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post59 == 0 /\ -__disjvr_1^post59+__disjvr_1^0 == 0 /\ a_116^0-a_116^post59 == 0 /\ -__disjvr_10^post59+__disjvr_10^0 == 0 /\ -r_124^post59+r_124^0 == 0 /\ f_170^0-f_170^post59 == 0 /\ tmp_34^0-tmp_34^post59 == 0 /\ -__disjvr_16^post59+__disjvr_16^0 == 0 /\ a_215^0-a_215^post59 == 0 /\ -__disjvr_27^post59+__disjvr_27^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_23^post59+__disjvr_23^0 == 0 /\ -__disjvr_9^post59+__disjvr_9^0 == 0 /\ __disjvr_22^0-__disjvr_22^post59 == 0 /\ -t_23^post59+t_23^0 == 0 /\ -a_184^post59+a_184^0 == 0 /\ __disjvr_7^0-__disjvr_7^post59 == 0 /\ __disjvr_29^0-__disjvr_29^post59 == 0 /\ __disjvr_28^0-__disjvr_28^post59 == 0 /\ -__disjvr_18^post59+__disjvr_18^0 == 0 /\ -i_94^post59+i_94^0 == 0 /\ -__disjvr_12^post59+__disjvr_12^0 == 0 /\ -head_SLAM_f_26^post59+head_SLAM_f_26^0 == 0), cost: 1
  60: l58 -> l59 : __disjvr_0^0'=__disjvr_0^post60, a_215^0'=a_215^post60, x_SLAM_f_18^0'=x_SLAM_f_18^post60, __disjvr_21^0'=__disjvr_21^post60, __disjvr_3^0'=__disjvr_3^post60, result_11^0'=result_11^post60, __disjvr_14^0'=__disjvr_14^post60, head_129^0'=head_129^post60, __disjvr_24^0'=__disjvr_24^post60, len_183^0'=len_183^post60, __disjvr_8^0'=__disjvr_8^post60, a_116^0'=a_116^post60, tmp_34^0'=tmp_34^post60, __disjvr_19^0'=__disjvr_19^post60, head_SLAM_f_26^0'=head_SLAM_f_26^post60, __disjvr_29^0'=__disjvr_29^post60, r_39^0'=r_39^post60, __disjvr_11^0'=__disjvr_11^post60, a_260^0'=a_260^post60, i_30^0'=i_30^post60, __disjvr_5^0'=__disjvr_5^post60, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post60, __disjvr_16^0'=__disjvr_16^post60, head_175^0'=head_175^post60, __disjvr_26^0'=__disjvr_26^post60, nondet_12^0'=nondet_12^post60, a_184^0'=a_184^post60, x_20^0'=x_20^post60, __disjvr_20^0'=__disjvr_20^post60, i_167^0'=i_167^post60, __disjvr_30^0'=__disjvr_30^post60, rcd_88^0'=rcd_88^post60, __disjvr_13^0'=__disjvr_13^post60, f_170^0'=f_170^post60, __disjvr_23^0'=__disjvr_23^post60, len_132^0'=len_132^post60, __disjvr_7^0'=__disjvr_7^post60, temp0_15^0'=temp0_15^post60, temp_35^0'=temp_35^post60, __disjvr_18^0'=__disjvr_18^post60, head_32^0'=head_32^post60, __disjvr_28^0'=__disjvr_28^post60, r_163^0'=r_163^post60, __disjvr_10^0'=__disjvr_10^post60, a_237^0'=a_237^post60, y_19^0'=y_19^post60, __disjvr_22^0'=__disjvr_22^post60, __disjvr_4^0'=__disjvr_4^post60, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60, __disjvr_15^0'=__disjvr_15^post60, head_14^0'=head_14^post60, __disjvr_25^0'=__disjvr_25^post60, length_29^0'=length_29^post60, __disjvr_9^0'=__disjvr_9^post60, a_147^0'=a_147^post60, x_16^0'=x_16^post60, __disjvr_1^0'=__disjvr_1^post60, i_108^0'=i_108^post60, __disjvr_2^0'=__disjvr_2^post60, rcd_58^0'=rcd_58^post60, __disjvr_12^0'=__disjvr_12^post60, ct_17^0'=ct_17^post60, i_94^0'=i_94^post60, __disjvr_6^0'=__disjvr_6^post60, t_23^0'=t_23^post60, temp0_31^0'=temp0_31^post60, __disjvr_17^0'=__disjvr_17^post60, head_27^0'=head_27^post60, __disjvr_27^0'=__disjvr_27^post60, r_124^0'=r_124^post60, (0 == 0 /\ -a_237^post60+a_237^0 == 0 /\ -x_16^post60+x_16^0 == 0 /\ -__disjvr_25^post60+__disjvr_25^0 == 0 /\ __disjvr_16^0-__disjvr_16^post60 == 0 /\ -__disjvr_1^post60+__disjvr_1^0 == 0 /\ -__disjvr_5^post60+__disjvr_5^0 == 0 /\ -r_124^post60+r_124^0 == 0 /\ __disjvr_0^0-__disjvr_0^post60 == 0 /\ __disjvr_3^0-__disjvr_3^post60 == 0 /\ i_30^0-i_30^post60 == 0 /\ __disjvr_26^0-__disjvr_26^post60 == 0 /\ __disjvr_14^0-__disjvr_14^post60 == 0 /\ __disjvr_10^0-__disjvr_10^post60 == 0 /\ head_175^0-head_175^post60 == 0 /\ __disjvr_20^0-__disjvr_20^post60 == 0 /\ -length_29^post60+length_29^0 == 0 /\ -i_94^post60+i_94^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post60 == 0 /\ -__disjvr_7^post60+__disjvr_7^0 == 0 /\ -t_23^post60+t_23^0 == 0 /\ rcd_88^0-rcd_88^post60 == 0 /\ -__disjvr_27^post60+__disjvr_27^0 == 0 /\ -__disjvr_12^post60+__disjvr_12^0 == 0 /\ x_20^0-x_20^post60 == 0 /\ a_260^0-a_260^post60 == 0 /\ __disjvr_2^0-__disjvr_2^post60 == 0 /\ -a_116^post60+a_116^0 == 0 /\ head_32^0-head_32^post60 == 0 /\ a_184^0-a_184^post60 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post60 == 0 /\ tmp_34^0-tmp_34^post60 == 0 /\ -__disjvr_18^post60+__disjvr_18^0 == 0 /\ a_215^0-a_215^post60 == 0 /\ -__disjvr_30^post60+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post60 == 0 /\ __disjvr_24^0-__disjvr_24^post60 == 0 /\ -__disjvr_15^post60+__disjvr_15^0 == 0 /\ -f_170^post60+f_170^0 == 0 /\ -__disjvr_6^post60+__disjvr_6^0 == 0 /\ -__disjvr_9^post60+__disjvr_9^0 == 0 /\ -temp0_15^post60+temp0_15^0 == 0 /\ result_11^0-result_11^post60 == 0 /\ temp_35^0-temp_35^post60 == 0 /\ -head_27^post60+head_27^0 == 0 /\ -__disjvr_17^post60+__disjvr_17^0 == 0 /\ -ct_17^post60+ct_17^0 == 0 /\ -__disjvr_28^post60+__disjvr_28^0 == 0 /\ __disjvr_19^0-__disjvr_19^post60 == 0 /\ y_19^0-y_19^post60 == 0 /\ __disjvr_8^0-__disjvr_8^post60 == 0 /\ len_183^0-len_183^post60 == 0 /\ nondet_12^0-nondet_12^post60 == 0 /\ -__disjvr_13^post60+__disjvr_13^0 == 0 /\ -i_30^0 <= 0 /\ -i_167^post60+i_167^0 == 0 /\ head_129^0-head_129^post60 == 0 /\ -a_147^post60+a_147^0 == 0 /\ __disjvr_21^0-__disjvr_21^post60 == 0 /\ __disjvr_11^0-__disjvr_11^post60 == 0 /\ -len_132^post60+len_132^0 == 0 /\ -__disjvr_4^post60+__disjvr_4^0 == 0 /\ -rcd_58^post60+rcd_58^0 == 0 /\ -__disjvr_29^post60+__disjvr_29^0 == 0 /\ -temp0_31^post60+temp0_31^0 == 0 /\ -__disjvr_22^post60+__disjvr_22^0 == 0), cost: 1
  61: l59 -> l60 : __disjvr_0^0'=__disjvr_0^post61, a_215^0'=a_215^post61, x_SLAM_f_18^0'=x_SLAM_f_18^post61, __disjvr_21^0'=__disjvr_21^post61, __disjvr_3^0'=__disjvr_3^post61, result_11^0'=result_11^post61, __disjvr_14^0'=__disjvr_14^post61, head_129^0'=head_129^post61, __disjvr_24^0'=__disjvr_24^post61, len_183^0'=len_183^post61, __disjvr_8^0'=__disjvr_8^post61, a_116^0'=a_116^post61, tmp_34^0'=tmp_34^post61, __disjvr_19^0'=__disjvr_19^post61, head_SLAM_f_26^0'=head_SLAM_f_26^post61, __disjvr_29^0'=__disjvr_29^post61, r_39^0'=r_39^post61, __disjvr_11^0'=__disjvr_11^post61, a_260^0'=a_260^post61, i_30^0'=i_30^post61, __disjvr_5^0'=__disjvr_5^post61, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post61, __disjvr_16^0'=__disjvr_16^post61, head_175^0'=head_175^post61, __disjvr_26^0'=__disjvr_26^post61, nondet_12^0'=nondet_12^post61, a_184^0'=a_184^post61, x_20^0'=x_20^post61, __disjvr_20^0'=__disjvr_20^post61, i_167^0'=i_167^post61, __disjvr_30^0'=__disjvr_30^post61, rcd_88^0'=rcd_88^post61, __disjvr_13^0'=__disjvr_13^post61, f_170^0'=f_170^post61, __disjvr_23^0'=__disjvr_23^post61, len_132^0'=len_132^post61, __disjvr_7^0'=__disjvr_7^post61, temp0_15^0'=temp0_15^post61, temp_35^0'=temp_35^post61, __disjvr_18^0'=__disjvr_18^post61, head_32^0'=head_32^post61, __disjvr_28^0'=__disjvr_28^post61, r_163^0'=r_163^post61, __disjvr_10^0'=__disjvr_10^post61, a_237^0'=a_237^post61, y_19^0'=y_19^post61, __disjvr_22^0'=__disjvr_22^post61, __disjvr_4^0'=__disjvr_4^post61, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61, __disjvr_15^0'=__disjvr_15^post61, head_14^0'=head_14^post61, __disjvr_25^0'=__disjvr_25^post61, length_29^0'=length_29^post61, __disjvr_9^0'=__disjvr_9^post61, a_147^0'=a_147^post61, x_16^0'=x_16^post61, __disjvr_1^0'=__disjvr_1^post61, i_108^0'=i_108^post61, __disjvr_2^0'=__disjvr_2^post61, rcd_58^0'=rcd_58^post61, __disjvr_12^0'=__disjvr_12^post61, ct_17^0'=ct_17^post61, i_94^0'=i_94^post61, __disjvr_6^0'=__disjvr_6^post61, t_23^0'=t_23^post61, temp0_31^0'=temp0_31^post61, __disjvr_17^0'=__disjvr_17^post61, head_27^0'=head_27^post61, __disjvr_27^0'=__disjvr_27^post61, r_124^0'=r_124^post61, (-f_170^post61+f_170^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post61 == 0 /\ __disjvr_5^0-__disjvr_5^post61 == 0 /\ -y_19^post61+y_19^0 == 0 /\ -i_108^post61+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post61+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_12^post61+__disjvr_12^0 == 0 /\ -__disjvr_6^post61+__disjvr_6^0 == 0 /\ -nondet_12^post61+nondet_12^0 == 0 /\ x_16^0-x_16^post61 == 0 /\ head_129^0-head_129^post61 == 0 /\ -__disjvr_28^0+__disjvr_28^post61 == 0 /\ -__disjvr_9^post61+__disjvr_9^0 == 0 /\ __disjvr_11^0-__disjvr_11^post61 == 0 /\ __disjvr_21^0-__disjvr_21^post61 == 0 /\ -__disjvr_17^post61+__disjvr_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post61 == 0 /\ -head_27^post61+head_27^0 == 0 /\ a_215^0-a_215^post61 == 0 /\ result_11^0-result_11^post61 == 0 /\ a_184^0-a_184^post61 == 0 /\ -__disjvr_2^post61+__disjvr_2^0 == 0 /\ __disjvr_15^0-__disjvr_15^post61 == 0 /\ -ct_17^post61+ct_17^0 == 0 /\ -r_163^post61+r_163^0 == 0 /\ __disjvr_29^0-__disjvr_29^post61 == 0 /\ __disjvr_28^0-__disjvr_28^post61 == 0 /\ -a_147^post61+a_147^0 == 0 /\ -__disjvr_4^post61+__disjvr_4^0 == 0 /\ -temp0_31^post61+temp0_31^0 == 0 /\ i_30^0-i_30^post61 == 0 /\ -rcd_88^post61+rcd_88^0 == 0 /\ __disjvr_26^0-__disjvr_26^post61 == 0 /\ len_132^0-len_132^post61 == 0 /\ __disjvr_19^0-__disjvr_19^post61 == 0 /\ __disjvr_13^0-__disjvr_13^post61 == 0 /\ __disjvr_14^0-__disjvr_14^post61 == 0 /\ __disjvr_8^0-__disjvr_8^post61 == 0 /\ __disjvr_22^0-__disjvr_22^post61 == 0 /\ len_183^0-len_183^post61 == 0 /\ head_14^0-head_14^post61 == 0 /\ -__disjvr_1^post61+__disjvr_1^0 == 0 /\ -x_20^post61+x_20^0 == 0 /\ -rcd_58^post61+rcd_58^0 == 0 /\ __disjvr_30^0-__disjvr_30^post61 == 0 /\ -head_32^post61+head_32^0 == 0 /\ -a_260^post61+a_260^0 == 0 /\ -i_94^post61+i_94^0 == 0 /\ -__disjvr_10^post61+__disjvr_10^0 == 0 /\ -r_124^post61+r_124^0 == 0 /\ -__disjvr_25^post61+__disjvr_25^0 == 0 /\ -__disjvr_23^post61+__disjvr_23^0 == 0 /\ i_167^0-i_167^post61 == 0 /\ -temp0_15^post61+temp0_15^0 == 0 /\ -__disjvr_20^post61+__disjvr_20^0 == 0 /\ a_116^0-a_116^post61 == 0 /\ -tmp_34^post61+tmp_34^0 == 0 /\ -t_23^post61+t_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post61 == 0 /\ -length_29^post61+length_29^0 == 0 /\ a_237^0-a_237^post61 == 0 /\ __disjvr_16^0-__disjvr_16^post61 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post61+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_18^0-__disjvr_18^post61 == 0 /\ -__disjvr_27^post61+__disjvr_27^0 == 0 /\ head_175^0-head_175^post61 == 0 /\ -temp_35^post61+temp_35^0 == 0 /\ r_39^0-r_39^post61 == 0 /\ -__disjvr_7^post61+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post61 == 0 /\ __disjvr_3^0-__disjvr_3^post61 == 0), cost: 1
  62: l60 -> l61 : __disjvr_0^0'=__disjvr_0^post62, a_215^0'=a_215^post62, x_SLAM_f_18^0'=x_SLAM_f_18^post62, __disjvr_21^0'=__disjvr_21^post62, __disjvr_3^0'=__disjvr_3^post62, result_11^0'=result_11^post62, __disjvr_14^0'=__disjvr_14^post62, head_129^0'=head_129^post62, __disjvr_24^0'=__disjvr_24^post62, len_183^0'=len_183^post62, __disjvr_8^0'=__disjvr_8^post62, a_116^0'=a_116^post62, tmp_34^0'=tmp_34^post62, __disjvr_19^0'=__disjvr_19^post62, head_SLAM_f_26^0'=head_SLAM_f_26^post62, __disjvr_29^0'=__disjvr_29^post62, r_39^0'=r_39^post62, __disjvr_11^0'=__disjvr_11^post62, a_260^0'=a_260^post62, i_30^0'=i_30^post62, __disjvr_5^0'=__disjvr_5^post62, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post62, __disjvr_16^0'=__disjvr_16^post62, head_175^0'=head_175^post62, __disjvr_26^0'=__disjvr_26^post62, nondet_12^0'=nondet_12^post62, a_184^0'=a_184^post62, x_20^0'=x_20^post62, __disjvr_20^0'=__disjvr_20^post62, i_167^0'=i_167^post62, __disjvr_30^0'=__disjvr_30^post62, rcd_88^0'=rcd_88^post62, __disjvr_13^0'=__disjvr_13^post62, f_170^0'=f_170^post62, __disjvr_23^0'=__disjvr_23^post62, len_132^0'=len_132^post62, __disjvr_7^0'=__disjvr_7^post62, temp0_15^0'=temp0_15^post62, temp_35^0'=temp_35^post62, __disjvr_18^0'=__disjvr_18^post62, head_32^0'=head_32^post62, __disjvr_28^0'=__disjvr_28^post62, r_163^0'=r_163^post62, __disjvr_10^0'=__disjvr_10^post62, a_237^0'=a_237^post62, y_19^0'=y_19^post62, __disjvr_22^0'=__disjvr_22^post62, __disjvr_4^0'=__disjvr_4^post62, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62, __disjvr_15^0'=__disjvr_15^post62, head_14^0'=head_14^post62, __disjvr_25^0'=__disjvr_25^post62, length_29^0'=length_29^post62, __disjvr_9^0'=__disjvr_9^post62, a_147^0'=a_147^post62, x_16^0'=x_16^post62, __disjvr_1^0'=__disjvr_1^post62, i_108^0'=i_108^post62, __disjvr_2^0'=__disjvr_2^post62, rcd_58^0'=rcd_58^post62, __disjvr_12^0'=__disjvr_12^post62, ct_17^0'=ct_17^post62, i_94^0'=i_94^post62, __disjvr_6^0'=__disjvr_6^post62, t_23^0'=t_23^post62, temp0_31^0'=temp0_31^post62, __disjvr_17^0'=__disjvr_17^post62, head_27^0'=head_27^post62, __disjvr_27^0'=__disjvr_27^post62, r_124^0'=r_124^post62, (0 == 0 /\ a_215^0-a_215^post62 == 0 /\ -head_175^post62+head_175^0 == 0 /\ -a_237^post62+a_237^0 == 0 /\ __disjvr_24^0-__disjvr_24^post62 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ -rcd_58^post62+rcd_58^0 == 0 /\ -__disjvr_1^post62+__disjvr_1^0 == 0 /\ __disjvr_29^0-__disjvr_29^post62 == 0 /\ -r_124^post62+r_124^0 == 0 /\ -__disjvr_10^post62+__disjvr_10^0 == 0 /\ -i_94^post62+i_94^0 == 0 /\ i_30^0-i_30^post62 == 0 /\ -t_23^post62+t_23^0 == 0 /\ temp_35^0-temp_35^post62 == 0 /\ -__disjvr_15^post62+__disjvr_15^0 == 0 /\ -__disjvr_16^post62+__disjvr_16^0 == 0 /\ -__disjvr_23^post62+__disjvr_23^0 == 0 /\ nondet_12^0-nondet_12^post62 == 0 /\ __disjvr_19^0-__disjvr_19^post62 == 0 /\ r_163^0-r_163^post62 == 0 /\ __disjvr_12^0-__disjvr_12^post62 == 0 /\ __disjvr_2^0-__disjvr_2^post62 == 0 /\ 1-len_132^0 <= 0 /\ -1+len_132^0 <= 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ -x_16^post62+x_16^0 == 0 /\ -length_29^post62+length_29^0 == 0 /\ -head_14^post62+head_14^0 == 0 /\ -__disjvr_27^post62+__disjvr_27^0 == 0 /\ -__disjvr_8^post62+__disjvr_8^0 == 0 /\ a_260^0-a_260^post62 == 0 /\ -head_SLAM_f_26^post62+head_SLAM_f_26^0 == 0 /\ head_129^0-head_129^post62 == 0 /\ __disjvr_20^0-__disjvr_20^post62 == 0 /\ -__disjvr_6^post62+__disjvr_6^0 == 0 /\ f_170^0-f_170^post62 == 0 /\ __disjvr_25^0-__disjvr_25^post62 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post62 == 0 /\ i_108^0-i_108^post62 == 0 /\ -temp0_31^post62+temp0_31^0 == 0 /\ result_11^0-result_11^post62 == 0 /\ tmp_34^0-tmp_34^post62 == 0 /\ -a_184^post62+a_184^0 == 0 /\ r_39^0-r_39^post62 == 0 /\ -len_183^post62+len_183^0 == 0 /\ __disjvr_3^0-__disjvr_3^post62 == 0 /\ -__disjvr_18^post62+__disjvr_18^0 == 0 /\ -head_27^post62+head_27^0 == 0 /\ -a_116^post62+a_147^0 <= 0 /\ __disjvr_7^0-__disjvr_7^post62 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post62+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ y_19^0-y_19^post62 == 0 /\ __disjvr_0^0-__disjvr_0^post62 == 0 /\ -__disjvr_17^post62+__disjvr_17^0 == 0 /\ -__disjvr_9^post62+__disjvr_9^0 == 0 /\ __disjvr_26^0-__disjvr_26^post62 == 0 /\ -i_167^post62+i_167^0 == 0 /\ -temp0_15^post62+temp0_15^0 == 0 /\ -ct_17^post62+ct_17^0 == 0 /\ -__disjvr_13^post62+__disjvr_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post62 == 0 /\ __disjvr_14^0-__disjvr_14^post62 == 0 /\ -__disjvr_28^post62+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post62 == 0 /\ -a_147^post62+a_147^0 == 0 /\ __disjvr_5^0-__disjvr_5^post62 == 0 /\ -rcd_88^post62+rcd_88^0 == 0 /\ __disjvr_30^0-__disjvr_30^post62 == 0 /\ __disjvr_21^0-__disjvr_21^post62 == 0 /\ a_116^post62-a_147^0 <= 0 /\ head_32^0-head_32^post62 == 0 /\ x_20^0-x_20^post62 == 0 /\ -__disjvr_22^post62+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post62 == 0 /\ -len_132^post62+len_132^0 == 0), cost: 1
  63: l61 -> l62 : __disjvr_0^0'=__disjvr_0^post63, a_215^0'=a_215^post63, x_SLAM_f_18^0'=x_SLAM_f_18^post63, __disjvr_21^0'=__disjvr_21^post63, __disjvr_3^0'=__disjvr_3^post63, result_11^0'=result_11^post63, __disjvr_14^0'=__disjvr_14^post63, head_129^0'=head_129^post63, __disjvr_24^0'=__disjvr_24^post63, len_183^0'=len_183^post63, __disjvr_8^0'=__disjvr_8^post63, a_116^0'=a_116^post63, tmp_34^0'=tmp_34^post63, __disjvr_19^0'=__disjvr_19^post63, head_SLAM_f_26^0'=head_SLAM_f_26^post63, __disjvr_29^0'=__disjvr_29^post63, r_39^0'=r_39^post63, __disjvr_11^0'=__disjvr_11^post63, a_260^0'=a_260^post63, i_30^0'=i_30^post63, __disjvr_5^0'=__disjvr_5^post63, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post63, __disjvr_16^0'=__disjvr_16^post63, head_175^0'=head_175^post63, __disjvr_26^0'=__disjvr_26^post63, nondet_12^0'=nondet_12^post63, a_184^0'=a_184^post63, x_20^0'=x_20^post63, __disjvr_20^0'=__disjvr_20^post63, i_167^0'=i_167^post63, __disjvr_30^0'=__disjvr_30^post63, rcd_88^0'=rcd_88^post63, __disjvr_13^0'=__disjvr_13^post63, f_170^0'=f_170^post63, __disjvr_23^0'=__disjvr_23^post63, len_132^0'=len_132^post63, __disjvr_7^0'=__disjvr_7^post63, temp0_15^0'=temp0_15^post63, temp_35^0'=temp_35^post63, __disjvr_18^0'=__disjvr_18^post63, head_32^0'=head_32^post63, __disjvr_28^0'=__disjvr_28^post63, r_163^0'=r_163^post63, __disjvr_10^0'=__disjvr_10^post63, a_237^0'=a_237^post63, y_19^0'=y_19^post63, __disjvr_22^0'=__disjvr_22^post63, __disjvr_4^0'=__disjvr_4^post63, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63, __disjvr_15^0'=__disjvr_15^post63, head_14^0'=head_14^post63, __disjvr_25^0'=__disjvr_25^post63, length_29^0'=length_29^post63, __disjvr_9^0'=__disjvr_9^post63, a_147^0'=a_147^post63, x_16^0'=x_16^post63, __disjvr_1^0'=__disjvr_1^post63, i_108^0'=i_108^post63, __disjvr_2^0'=__disjvr_2^post63, rcd_58^0'=rcd_58^post63, __disjvr_12^0'=__disjvr_12^post63, ct_17^0'=ct_17^post63, i_94^0'=i_94^post63, __disjvr_6^0'=__disjvr_6^post63, t_23^0'=t_23^post63, temp0_31^0'=temp0_31^post63, __disjvr_17^0'=__disjvr_17^post63, head_27^0'=head_27^post63, __disjvr_27^0'=__disjvr_27^post63, r_124^0'=r_124^post63, (-__disjvr_12^post63+__disjvr_12^0 == 0 /\ __disjvr_1^0-__disjvr_1^post63 == 0 /\ -temp0_31^post63+temp0_31^0 == 0 /\ len_132^0-len_132^post63 == 0 /\ head_129^0-head_129^post63 == 0 /\ -__disjvr_26^post63+__disjvr_26^0 == 0 /\ a_260^0-a_260^post63 == 0 /\ -i_108^post63+i_108^0 == 0 /\ -head_27^post63+head_27^0 == 0 /\ __disjvr_29^post63-__disjvr_29^0 == 0 /\ -i_30^post63+i_30^0 == 0 /\ a_116^0-a_116^post63 == 0 /\ -__disjvr_9^post63+__disjvr_9^0 == 0 /\ -f_170^post63+f_170^0 == 0 /\ x_16^0-x_16^post63 == 0 /\ -__disjvr_30^post63+__disjvr_30^0 == 0 /\ __disjvr_28^0-__disjvr_28^post63 == 0 /\ tmp_34^0-tmp_34^post63 == 0 /\ -ct_17^post63+ct_17^0 == 0 /\ -__disjvr_19^post63+__disjvr_19^0 == 0 /\ -a_147^post63+a_147^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post63 == 0 /\ -__disjvr_25^post63+__disjvr_25^0 == 0 /\ -__disjvr_4^post63+__disjvr_4^0 == 0 /\ __disjvr_16^0-__disjvr_16^post63 == 0 /\ __disjvr_23^0-__disjvr_23^post63 == 0 /\ rcd_58^0-rcd_58^post63 == 0 /\ __disjvr_3^0-__disjvr_3^post63 == 0 /\ -__disjvr_22^post63+__disjvr_22^0 == 0 /\ -__disjvr_2^post63+__disjvr_2^0 == 0 /\ -__disjvr_29^post63+__disjvr_29^0 == 0 /\ __disjvr_0^0-__disjvr_0^post63 == 0 /\ -__disjvr_13^post63+__disjvr_13^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post63 == 0 /\ temp0_15^0-temp0_15^post63 == 0 /\ -__disjvr_11^post63+__disjvr_11^0 == 0 /\ -head_14^post63+head_14^0 == 0 /\ -__disjvr_5^post63+__disjvr_5^0 == 0 /\ -__disjvr_14^post63+__disjvr_14^0 == 0 /\ -__disjvr_27^post63+__disjvr_27^0 == 0 /\ -__disjvr_20^post63+__disjvr_20^0 == 0 /\ __disjvr_21^0-__disjvr_21^post63 == 0 /\ __disjvr_24^0-__disjvr_24^post63 == 0 /\ -i_94^post63+i_94^0 == 0 /\ a_237^0-a_237^post63 == 0 /\ rcd_88^0-rcd_88^post63 == 0 /\ -head_32^post63+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post63 == 0 /\ x_20^0-x_20^post63 == 0 /\ __disjvr_15^0-__disjvr_15^post63 == 0 /\ len_183^0-len_183^post63 == 0 /\ -r_163^post63+r_163^0 == 0 /\ nondet_12^0-nondet_12^post63 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post63 == 0 /\ -t_23^post63+t_23^0 == 0 /\ a_215^0-a_215^post63 == 0 /\ a_184^0-a_184^post63 == 0 /\ result_11^0-result_11^post63 == 0 /\ -__disjvr_17^post63+__disjvr_17^0 == 0 /\ -temp_35^post63+temp_35^0 == 0 /\ head_175^0-head_175^post63 == 0 /\ -length_29^post63+length_29^0 == 0 /\ -__disjvr_7^post63+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post63 == 0 /\ -__disjvr_10^post63+__disjvr_10^0 == 0 /\ -__disjvr_6^post63+__disjvr_6^0 == 0 /\ -y_19^post63+y_19^0 == 0 /\ i_167^0-i_167^post63 == 0 /\ __disjvr_18^0-__disjvr_18^post63 == 0 /\ r_39^0-r_39^post63 == 0 /\ r_124^0-r_124^post63 == 0), cost: 1
  64: l62 -> l41 : __disjvr_0^0'=__disjvr_0^post64, a_215^0'=a_215^post64, x_SLAM_f_18^0'=x_SLAM_f_18^post64, __disjvr_21^0'=__disjvr_21^post64, __disjvr_3^0'=__disjvr_3^post64, result_11^0'=result_11^post64, __disjvr_14^0'=__disjvr_14^post64, head_129^0'=head_129^post64, __disjvr_24^0'=__disjvr_24^post64, len_183^0'=len_183^post64, __disjvr_8^0'=__disjvr_8^post64, a_116^0'=a_116^post64, tmp_34^0'=tmp_34^post64, __disjvr_19^0'=__disjvr_19^post64, head_SLAM_f_26^0'=head_SLAM_f_26^post64, __disjvr_29^0'=__disjvr_29^post64, r_39^0'=r_39^post64, __disjvr_11^0'=__disjvr_11^post64, a_260^0'=a_260^post64, i_30^0'=i_30^post64, __disjvr_5^0'=__disjvr_5^post64, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post64, __disjvr_16^0'=__disjvr_16^post64, head_175^0'=head_175^post64, __disjvr_26^0'=__disjvr_26^post64, nondet_12^0'=nondet_12^post64, a_184^0'=a_184^post64, x_20^0'=x_20^post64, __disjvr_20^0'=__disjvr_20^post64, i_167^0'=i_167^post64, __disjvr_30^0'=__disjvr_30^post64, rcd_88^0'=rcd_88^post64, __disjvr_13^0'=__disjvr_13^post64, f_170^0'=f_170^post64, __disjvr_23^0'=__disjvr_23^post64, len_132^0'=len_132^post64, __disjvr_7^0'=__disjvr_7^post64, temp0_15^0'=temp0_15^post64, temp_35^0'=temp_35^post64, __disjvr_18^0'=__disjvr_18^post64, head_32^0'=head_32^post64, __disjvr_28^0'=__disjvr_28^post64, r_163^0'=r_163^post64, __disjvr_10^0'=__disjvr_10^post64, a_237^0'=a_237^post64, y_19^0'=y_19^post64, __disjvr_22^0'=__disjvr_22^post64, __disjvr_4^0'=__disjvr_4^post64, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64, __disjvr_15^0'=__disjvr_15^post64, head_14^0'=head_14^post64, __disjvr_25^0'=__disjvr_25^post64, length_29^0'=length_29^post64, __disjvr_9^0'=__disjvr_9^post64, a_147^0'=a_147^post64, x_16^0'=x_16^post64, __disjvr_1^0'=__disjvr_1^post64, i_108^0'=i_108^post64, __disjvr_2^0'=__disjvr_2^post64, rcd_58^0'=rcd_58^post64, __disjvr_12^0'=__disjvr_12^post64, ct_17^0'=ct_17^post64, i_94^0'=i_94^post64, __disjvr_6^0'=__disjvr_6^post64, t_23^0'=t_23^post64, temp0_31^0'=temp0_31^post64, __disjvr_17^0'=__disjvr_17^post64, head_27^0'=head_27^post64, __disjvr_27^0'=__disjvr_27^post64, r_124^0'=r_124^post64, (0 == 0 /\ tmp_34^0-tmp_34^post64 == 0 /\ -x_20^post64+x_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post64 == 0 /\ a_147^0-a_147^post64 == 0 /\ a_215^0-a_215^post64 == 0 /\ -a_260^post64+a_260^0 == 0 /\ -__disjvr_23^post64+__disjvr_23^0 == 0 /\ -1-a_116^0+i_108^post64 <= 0 /\ -head_14^post64+head_14^0 == 0 /\ result_11^0-result_11^post64 == 0 /\ -__disjvr_27^post64+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post64 == 0 /\ __disjvr_7^0-__disjvr_7^post64 == 0 /\ -t_23^post64+t_23^0 == 0 /\ -rcd_58^post64+rcd_58^0 == 0 /\ -__disjvr_1^post64+__disjvr_1^0 == 0 /\ temp_35^0-temp_35^post64 == 0 /\ -i_94^post64+i_94^0 == 0 /\ -head_175^post64+head_175^0 == 0 /\ -__disjvr_5^post64+__disjvr_5^0 == 0 /\ -__disjvr_17^post64+__disjvr_17^0 == 0 /\ __disjvr_26^0-__disjvr_26^post64 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post64+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -x_16^post64+x_16^0 == 0 /\ -__disjvr_15^post64+__disjvr_15^0 == 0 /\ __disjvr_30^0-__disjvr_30^post64 == 0 /\ r_163^0-r_163^post64 == 0 /\ head_129^0-head_129^post64 == 0 /\ __disjvr_21^0-__disjvr_21^post64 == 0 /\ __disjvr_11^0-__disjvr_11^post64 == 0 /\ -__disjvr_6^post64+__disjvr_6^0 == 0 /\ head_32^0-head_32^post64 == 0 /\ -length_29^post64+length_29^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_108^0 <= 0 /\ len_183^0-len_183^post64 == 0 /\ a_184^0-a_184^post64 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post64 == 0 /\ -__disjvr_10^post64+__disjvr_10^0 == 0 /\ -y_19^post64+y_19^0 == 0 /\ -temp0_31^post64+temp0_31^0 == 0 /\ __disjvr_28^0-__disjvr_28^post64 == 0 /\ 1+a_116^0-i_108^post64 <= 0 /\ __disjvr_16^0-__disjvr_16^post64 == 0 /\ -__disjvr_13^post64+__disjvr_13^0 == 0 /\ f_170^0-f_170^post64 == 0 /\ -__disjvr_9^post64+__disjvr_9^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -temp0_15^post64+temp0_15^0 == 0 /\ __disjvr_29^0-__disjvr_29^post64 == 0 /\ -head_27^post64+head_27^0 == 0 /\ -r_39^post64+r_39^0 == 0 /\ -__disjvr_12^post64+__disjvr_12^0 == 0 /\ __disjvr_3^0-__disjvr_3^post64 == 0 /\ i_30^0-i_30^post64 == 0 /\ -__disjvr_18^post64+__disjvr_18^0 == 0 /\ i_167^0-i_167^post64 == 0 /\ __disjvr_8^0-__disjvr_8^post64 == 0 /\ __disjvr_22^0-__disjvr_22^post64 == 0 /\ -__disjvr_4^post64+__disjvr_4^0 == 0 /\ -a_237^post64+a_237^0 == 0 /\ __disjvr_14^0-__disjvr_14^post64 == 0 /\ -ct_17^post64+ct_17^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -len_132^post64+len_132^0 == 0 /\ -r_124^post64+r_124^0 == 0 /\ -nondet_12^post64+nondet_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post64 == 0 /\ -__disjvr_25^post64+__disjvr_25^0 == 0 /\ -__disjvr_2^post64+__disjvr_2^0 == 0 /\ -rcd_88^post64+rcd_88^0 == 0 /\ __disjvr_20^0-__disjvr_20^post64 == 0 /\ __disjvr_19^0-__disjvr_19^post64 == 0 /\ a_116^0-a_116^post64 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post64 == 0), cost: 1
  66: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post66, a_215^0'=a_215^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, __disjvr_21^0'=__disjvr_21^post66, __disjvr_3^0'=__disjvr_3^post66, result_11^0'=result_11^post66, __disjvr_14^0'=__disjvr_14^post66, head_129^0'=head_129^post66, __disjvr_24^0'=__disjvr_24^post66, len_183^0'=len_183^post66, __disjvr_8^0'=__disjvr_8^post66, a_116^0'=a_116^post66, tmp_34^0'=tmp_34^post66, __disjvr_19^0'=__disjvr_19^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, __disjvr_29^0'=__disjvr_29^post66, r_39^0'=r_39^post66, __disjvr_11^0'=__disjvr_11^post66, a_260^0'=a_260^post66, i_30^0'=i_30^post66, __disjvr_5^0'=__disjvr_5^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_16^0'=__disjvr_16^post66, head_175^0'=head_175^post66, __disjvr_26^0'=__disjvr_26^post66, nondet_12^0'=nondet_12^post66, a_184^0'=a_184^post66, x_20^0'=x_20^post66, __disjvr_20^0'=__disjvr_20^post66, i_167^0'=i_167^post66, __disjvr_30^0'=__disjvr_30^post66, rcd_88^0'=rcd_88^post66, __disjvr_13^0'=__disjvr_13^post66, f_170^0'=f_170^post66, __disjvr_23^0'=__disjvr_23^post66, len_132^0'=len_132^post66, __disjvr_7^0'=__disjvr_7^post66, temp0_15^0'=temp0_15^post66, temp_35^0'=temp_35^post66, __disjvr_18^0'=__disjvr_18^post66, head_32^0'=head_32^post66, __disjvr_28^0'=__disjvr_28^post66, r_163^0'=r_163^post66, __disjvr_10^0'=__disjvr_10^post66, a_237^0'=a_237^post66, y_19^0'=y_19^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_4^0'=__disjvr_4^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, __disjvr_15^0'=__disjvr_15^post66, head_14^0'=head_14^post66, __disjvr_25^0'=__disjvr_25^post66, length_29^0'=length_29^post66, __disjvr_9^0'=__disjvr_9^post66, a_147^0'=a_147^post66, x_16^0'=x_16^post66, __disjvr_1^0'=__disjvr_1^post66, i_108^0'=i_108^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_58^0'=rcd_58^post66, __disjvr_12^0'=__disjvr_12^post66, ct_17^0'=ct_17^post66, i_94^0'=i_94^post66, __disjvr_6^0'=__disjvr_6^post66, t_23^0'=t_23^post66, temp0_31^0'=temp0_31^post66, __disjvr_17^0'=__disjvr_17^post66, head_27^0'=head_27^post66, __disjvr_27^0'=__disjvr_27^post66, r_124^0'=r_124^post66, (-__disjvr_30^0+__disjvr_30^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ a_260^0-a_260^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ a_237^0-a_237^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ i_167^0-i_167^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -x_20^post66+x_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ __disjvr_28^0-__disjvr_28^post66 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ __disjvr_1^0-__disjvr_1^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ __disjvr_30^0-__disjvr_30^post66 == 0 /\ -temp0_15^post66+temp0_15^0 == 0 /\ head_175^0-head_175^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ ct_17^0-ct_17^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ -t_23^post66+t_23^0 == 0 /\ -r_124^post66+r_124^0 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_184^0-a_184^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_6^0-__disjvr_6^post66 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ length_29^0-length_29^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ -head_14^post66+head_14^0 == 0 /\ a_215^0-a_215^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -y_19^post66+y_19^0 == 0 /\ -a_116^post66+a_116^0 == 0 /\ head_129^0-head_129^post66 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ i_30^0-i_30^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -r_163^post66+r_163^0 == 0 /\ -head_27^post66+head_27^0 == 0 /\ f_170^0-f_170^post66 == 0 /\ len_132^0-len_132^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0), cost: 1
  67: l64 -> l41 : __disjvr_0^0'=__disjvr_0^post67, a_215^0'=a_215^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, __disjvr_21^0'=__disjvr_21^post67, __disjvr_3^0'=__disjvr_3^post67, result_11^0'=result_11^post67, __disjvr_14^0'=__disjvr_14^post67, head_129^0'=head_129^post67, __disjvr_24^0'=__disjvr_24^post67, len_183^0'=len_183^post67, __disjvr_8^0'=__disjvr_8^post67, a_116^0'=a_116^post67, tmp_34^0'=tmp_34^post67, __disjvr_19^0'=__disjvr_19^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, __disjvr_29^0'=__disjvr_29^post67, r_39^0'=r_39^post67, __disjvr_11^0'=__disjvr_11^post67, a_260^0'=a_260^post67, i_30^0'=i_30^post67, __disjvr_5^0'=__disjvr_5^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_16^0'=__disjvr_16^post67, head_175^0'=head_175^post67, __disjvr_26^0'=__disjvr_26^post67, nondet_12^0'=nondet_12^post67, a_184^0'=a_184^post67, x_20^0'=x_20^post67, __disjvr_20^0'=__disjvr_20^post67, i_167^0'=i_167^post67, __disjvr_30^0'=__disjvr_30^post67, rcd_88^0'=rcd_88^post67, __disjvr_13^0'=__disjvr_13^post67, f_170^0'=f_170^post67, __disjvr_23^0'=__disjvr_23^post67, len_132^0'=len_132^post67, __disjvr_7^0'=__disjvr_7^post67, temp0_15^0'=temp0_15^post67, temp_35^0'=temp_35^post67, __disjvr_18^0'=__disjvr_18^post67, head_32^0'=head_32^post67, __disjvr_28^0'=__disjvr_28^post67, r_163^0'=r_163^post67, __disjvr_10^0'=__disjvr_10^post67, a_237^0'=a_237^post67, y_19^0'=y_19^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_4^0'=__disjvr_4^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, __disjvr_15^0'=__disjvr_15^post67, head_14^0'=head_14^post67, __disjvr_25^0'=__disjvr_25^post67, length_29^0'=length_29^post67, __disjvr_9^0'=__disjvr_9^post67, a_147^0'=a_147^post67, x_16^0'=x_16^post67, __disjvr_1^0'=__disjvr_1^post67, i_108^0'=i_108^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_58^0'=rcd_58^post67, __disjvr_12^0'=__disjvr_12^post67, ct_17^0'=ct_17^post67, i_94^0'=i_94^post67, __disjvr_6^0'=__disjvr_6^post67, t_23^0'=t_23^post67, temp0_31^0'=temp0_31^post67, __disjvr_17^0'=__disjvr_17^post67, head_27^0'=head_27^post67, __disjvr_27^0'=__disjvr_27^post67, r_124^0'=r_124^post67, (-a_147^post67+a_147^0 == 0 /\ head_129^0-head_129^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ -a_184^post67+a_184^0 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ -head_27^post67+head_27^0 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ -__disjvr_9^post67+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -y_19^post67+y_19^0 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ x_20^0-x_20^post67 == 0 /\ f_170^0-f_170^post67 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ i_167^0-i_167^post67 == 0 /\ head_32^0-head_32^post67 == 0 /\ -__disjvr_1^post67+__disjvr_1^0 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ -rcd_58^post67+rcd_58^0 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ r_39^0-r_39^post67 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ a_215^0-a_215^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ -len_132^post67+len_132^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ head_14^0-head_14^post67 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ -head_175^post67+head_175^0 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post67+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_16^post67+x_16^0 == 0 /\ a_116^0-a_116^post67 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ a_260^0-a_260^post67 == 0 /\ len_183^0-len_183^post67 == 0 /\ -temp0_31^post67+temp0_31^0 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ -a_237^post67+a_237^0 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ -i_108^post67+i_108^0 == 0 /\ __disjvr_7^0-__disjvr_7^post67 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ tmp_34^0-tmp_34^post67 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -head_SLAM_f_26^post67+head_SLAM_f_26^0 == 0 /\ -i_30^post67+i_30^0 == 0 /\ -__disjvr_24^post67+__disjvr_24^0 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ -r_124^post67+r_124^0 == 0 /\ -__disjvr_25^post67+__disjvr_25^0 == 0 /\ __disjvr_22^0-__disjvr_22^post67 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ r_163^0-r_163^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0), cost: 1
  69: l65 -> l38 : __disjvr_0^0'=__disjvr_0^post69, a_215^0'=a_215^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, __disjvr_21^0'=__disjvr_21^post69, __disjvr_3^0'=__disjvr_3^post69, result_11^0'=result_11^post69, __disjvr_14^0'=__disjvr_14^post69, head_129^0'=head_129^post69, __disjvr_24^0'=__disjvr_24^post69, len_183^0'=len_183^post69, __disjvr_8^0'=__disjvr_8^post69, a_116^0'=a_116^post69, tmp_34^0'=tmp_34^post69, __disjvr_19^0'=__disjvr_19^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, __disjvr_29^0'=__disjvr_29^post69, r_39^0'=r_39^post69, __disjvr_11^0'=__disjvr_11^post69, a_260^0'=a_260^post69, i_30^0'=i_30^post69, __disjvr_5^0'=__disjvr_5^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_16^0'=__disjvr_16^post69, head_175^0'=head_175^post69, __disjvr_26^0'=__disjvr_26^post69, nondet_12^0'=nondet_12^post69, a_184^0'=a_184^post69, x_20^0'=x_20^post69, __disjvr_20^0'=__disjvr_20^post69, i_167^0'=i_167^post69, __disjvr_30^0'=__disjvr_30^post69, rcd_88^0'=rcd_88^post69, __disjvr_13^0'=__disjvr_13^post69, f_170^0'=f_170^post69, __disjvr_23^0'=__disjvr_23^post69, len_132^0'=len_132^post69, __disjvr_7^0'=__disjvr_7^post69, temp0_15^0'=temp0_15^post69, temp_35^0'=temp_35^post69, __disjvr_18^0'=__disjvr_18^post69, head_32^0'=head_32^post69, __disjvr_28^0'=__disjvr_28^post69, r_163^0'=r_163^post69, __disjvr_10^0'=__disjvr_10^post69, a_237^0'=a_237^post69, y_19^0'=y_19^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_4^0'=__disjvr_4^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, __disjvr_15^0'=__disjvr_15^post69, head_14^0'=head_14^post69, __disjvr_25^0'=__disjvr_25^post69, length_29^0'=length_29^post69, __disjvr_9^0'=__disjvr_9^post69, a_147^0'=a_147^post69, x_16^0'=x_16^post69, __disjvr_1^0'=__disjvr_1^post69, i_108^0'=i_108^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_58^0'=rcd_58^post69, __disjvr_12^0'=__disjvr_12^post69, ct_17^0'=ct_17^post69, i_94^0'=i_94^post69, __disjvr_6^0'=__disjvr_6^post69, t_23^0'=t_23^post69, temp0_31^0'=temp0_31^post69, __disjvr_17^0'=__disjvr_17^post69, head_27^0'=head_27^post69, __disjvr_27^0'=__disjvr_27^post69, r_124^0'=r_124^post69, (__disjvr_5^0-__disjvr_5^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ rcd_58^0-rcd_58^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ -i_108^post69+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ -a_147^post69+a_147^0 == 0 /\ __disjvr_8^0-__disjvr_8^post69 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post69 == 0 /\ -a_184^post69+a_184^0 == 0 /\ x_16^0-x_16^post69 == 0 /\ __disjvr_30^0-__disjvr_30^post69 == 0 /\ head_129^0-head_129^post69 == 0 /\ -head_27^post69+head_27^0 == 0 /\ a_260^0-a_260^post69 == 0 /\ -__disjvr_23^post69+__disjvr_23^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -y_19^post69+y_19^0 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ a_116^0-a_116^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ a_215^0-a_215^post69 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0 /\ -rcd_88^post69+rcd_88^0 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ -f_170^post69+f_170^0 == 0 /\ __disjvr_7^0-__disjvr_7^post69 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ -__disjvr_4^post69+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -r_163^post69+r_163^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ __disjvr_13^0-__disjvr_13^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ len_183^0-len_183^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ a_237^0-a_237^post69 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ -head_14^post69+head_14^0 == 0 /\ i_167^0-i_167^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -__disjvr_20^post69+__disjvr_20^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ -__disjvr_24^post69+__disjvr_24^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ -t_23^post69+t_23^0 == 0), cost: 1
  72: l66 -> l39 : __disjvr_0^0'=__disjvr_0^post72, a_215^0'=a_215^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, __disjvr_21^0'=__disjvr_21^post72, __disjvr_3^0'=__disjvr_3^post72, result_11^0'=result_11^post72, __disjvr_14^0'=__disjvr_14^post72, head_129^0'=head_129^post72, __disjvr_24^0'=__disjvr_24^post72, len_183^0'=len_183^post72, __disjvr_8^0'=__disjvr_8^post72, a_116^0'=a_116^post72, tmp_34^0'=tmp_34^post72, __disjvr_19^0'=__disjvr_19^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, __disjvr_29^0'=__disjvr_29^post72, r_39^0'=r_39^post72, __disjvr_11^0'=__disjvr_11^post72, a_260^0'=a_260^post72, i_30^0'=i_30^post72, __disjvr_5^0'=__disjvr_5^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, __disjvr_16^0'=__disjvr_16^post72, head_175^0'=head_175^post72, __disjvr_26^0'=__disjvr_26^post72, nondet_12^0'=nondet_12^post72, a_184^0'=a_184^post72, x_20^0'=x_20^post72, __disjvr_20^0'=__disjvr_20^post72, i_167^0'=i_167^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_88^0'=rcd_88^post72, __disjvr_13^0'=__disjvr_13^post72, f_170^0'=f_170^post72, __disjvr_23^0'=__disjvr_23^post72, len_132^0'=len_132^post72, __disjvr_7^0'=__disjvr_7^post72, temp0_15^0'=temp0_15^post72, temp_35^0'=temp_35^post72, __disjvr_18^0'=__disjvr_18^post72, head_32^0'=head_32^post72, __disjvr_28^0'=__disjvr_28^post72, r_163^0'=r_163^post72, __disjvr_10^0'=__disjvr_10^post72, a_237^0'=a_237^post72, y_19^0'=y_19^post72, __disjvr_22^0'=__disjvr_22^post72, __disjvr_4^0'=__disjvr_4^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, __disjvr_15^0'=__disjvr_15^post72, head_14^0'=head_14^post72, __disjvr_25^0'=__disjvr_25^post72, length_29^0'=length_29^post72, __disjvr_9^0'=__disjvr_9^post72, a_147^0'=a_147^post72, x_16^0'=x_16^post72, __disjvr_1^0'=__disjvr_1^post72, i_108^0'=i_108^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_58^0'=rcd_58^post72, __disjvr_12^0'=__disjvr_12^post72, ct_17^0'=ct_17^post72, i_94^0'=i_94^post72, __disjvr_6^0'=__disjvr_6^post72, t_23^0'=t_23^post72, temp0_31^0'=temp0_31^post72, __disjvr_17^0'=__disjvr_17^post72, head_27^0'=head_27^post72, __disjvr_27^0'=__disjvr_27^post72, r_124^0'=r_124^post72, (r_39^0-r_39^post72 == 0 /\ -__disjvr_13^post72+__disjvr_13^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ a_260^0-a_260^post72 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -__disjvr_16^post72+__disjvr_16^0 == 0 /\ -__disjvr_4^post72+__disjvr_4^0 == 0 /\ -__disjvr_9^post72+__disjvr_9^0 == 0 /\ r_163^0-r_163^post72 == 0 /\ __disjvr_5^0-__disjvr_5^post72 == 0 /\ -i_108^post72+i_108^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post72 == 0 /\ head_32^0-head_32^post72 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ head_129^0-head_129^post72 == 0 /\ -__disjvr_18^post72+__disjvr_18^0 == 0 /\ -__disjvr_11^post72+__disjvr_11^0 == 0 /\ -ct_17^post72+ct_17^0 == 0 /\ a_147^0-a_147^post72 == 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ -len_132^post72+len_132^0 == 0 /\ x_20^0-x_20^post72 == 0 /\ temp_35^0-temp_35^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ tmp_34^0-tmp_34^post72 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -a_237^post72+a_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post72 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post72 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ i_94^0-i_94^post72 == 0 /\ -head_14^post72+head_14^0 == 0 /\ len_183^0-len_183^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -__disjvr_14^post72+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -r_124^post72+r_124^0 == 0 /\ a_184^0-a_184^post72 == 0 /\ -head_175^post72+head_175^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72 == 0 /\ t_23^0-t_23^post72 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ a_215^0-a_215^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ -f_170^post72+f_170^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -x_16^post72+x_16^0 == 0 /\ a_116^0-a_116^post72 == 0 /\ -length_29^post72+length_29^0 == 0 /\ -head_27^post72+head_27^0 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -__disjvr_6^post72+__disjvr_6^0 == 0 /\ -y_19^post72+y_19^0 == 0), cost: 1


Removed unreachable rules and leafs
Start location: l66
   1: l0 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_215^0'=a_215^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, __disjvr_21^0'=__disjvr_21^post1, __disjvr_3^0'=__disjvr_3^post1, result_11^0'=result_11^post1, __disjvr_14^0'=__disjvr_14^post1, head_129^0'=head_129^post1, __disjvr_24^0'=__disjvr_24^post1, len_183^0'=len_183^post1, __disjvr_8^0'=__disjvr_8^post1, a_116^0'=a_116^post1, tmp_34^0'=tmp_34^post1, __disjvr_19^0'=__disjvr_19^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, __disjvr_29^0'=__disjvr_29^post1, r_39^0'=r_39^post1, __disjvr_11^0'=__disjvr_11^post1, a_260^0'=a_260^post1, i_30^0'=i_30^post1, __disjvr_5^0'=__disjvr_5^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_16^0'=__disjvr_16^post1, head_175^0'=head_175^post1, __disjvr_26^0'=__disjvr_26^post1, nondet_12^0'=nondet_12^post1, a_184^0'=a_184^post1, x_20^0'=x_20^post1, __disjvr_20^0'=__disjvr_20^post1, i_167^0'=i_167^post1, __disjvr_30^0'=__disjvr_30^post1, rcd_88^0'=rcd_88^post1, __disjvr_13^0'=__disjvr_13^post1, f_170^0'=f_170^post1, __disjvr_23^0'=__disjvr_23^post1, len_132^0'=len_132^post1, __disjvr_7^0'=__disjvr_7^post1, temp0_15^0'=temp0_15^post1, temp_35^0'=temp_35^post1, __disjvr_18^0'=__disjvr_18^post1, head_32^0'=head_32^post1, __disjvr_28^0'=__disjvr_28^post1, r_163^0'=r_163^post1, __disjvr_10^0'=__disjvr_10^post1, a_237^0'=a_237^post1, y_19^0'=y_19^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_4^0'=__disjvr_4^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, __disjvr_15^0'=__disjvr_15^post1, head_14^0'=head_14^post1, __disjvr_25^0'=__disjvr_25^post1, length_29^0'=length_29^post1, __disjvr_9^0'=__disjvr_9^post1, a_147^0'=a_147^post1, x_16^0'=x_16^post1, __disjvr_1^0'=__disjvr_1^post1, i_108^0'=i_108^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_58^0'=rcd_58^post1, __disjvr_12^0'=__disjvr_12^post1, ct_17^0'=ct_17^post1, i_94^0'=i_94^post1, __disjvr_6^0'=__disjvr_6^post1, t_23^0'=t_23^post1, temp0_31^0'=temp0_31^post1, __disjvr_17^0'=__disjvr_17^post1, head_27^0'=head_27^post1, __disjvr_27^0'=__disjvr_27^post1, r_124^0'=r_124^post1, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ rcd_58^0-rcd_58^post1 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ -f_170^post1+f_170^0 == 0 /\ __disjvr_5^0-__disjvr_5^post1 == 0 /\ -y_19^post1+y_19^0 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -a_237^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ -temp0_15^post1+temp0_15^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ head_129^0-head_129^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -i_108^post1+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ a_260^0-a_260^post1 == 0 /\ -head_27^post1+head_27^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ __disjvr_15^0-__disjvr_15^post1 == 0 /\ a_215^0-a_215^post1 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ -a_147^post1+a_147^0 == 0 /\ -rcd_88^post1+rcd_88^0 == 0 /\ -x_20^post1+x_20^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ len_183^0-len_183^post1 == 0 /\ len_132^0-len_132^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ __disjvr_30^0-__disjvr_30^post1 == 0 /\ -r_163^post1+r_163^0 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ -r_124^post1+r_124^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ -length_29^post1+length_29^0 == 0 /\ i_167^0-i_167^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ a_116^0-a_116^post1 == 0 /\ -__disjvr_20^post1+__disjvr_20^0 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ a_237^0-a_237^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ i_30^0-i_30^post1 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -a_184^post1+a_184^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ head_175^0-head_175^post1 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ __disjvr_3^0-__disjvr_3^post1 == 0), cost: 1
   2: l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_215^0'=a_215^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, __disjvr_21^0'=__disjvr_21^post2, __disjvr_3^0'=__disjvr_3^post2, result_11^0'=result_11^post2, __disjvr_14^0'=__disjvr_14^post2, head_129^0'=head_129^post2, __disjvr_24^0'=__disjvr_24^post2, len_183^0'=len_183^post2, __disjvr_8^0'=__disjvr_8^post2, a_116^0'=a_116^post2, tmp_34^0'=tmp_34^post2, __disjvr_19^0'=__disjvr_19^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, __disjvr_29^0'=__disjvr_29^post2, r_39^0'=r_39^post2, __disjvr_11^0'=__disjvr_11^post2, a_260^0'=a_260^post2, i_30^0'=i_30^post2, __disjvr_5^0'=__disjvr_5^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_16^0'=__disjvr_16^post2, head_175^0'=head_175^post2, __disjvr_26^0'=__disjvr_26^post2, nondet_12^0'=nondet_12^post2, a_184^0'=a_184^post2, x_20^0'=x_20^post2, __disjvr_20^0'=__disjvr_20^post2, i_167^0'=i_167^post2, __disjvr_30^0'=__disjvr_30^post2, rcd_88^0'=rcd_88^post2, __disjvr_13^0'=__disjvr_13^post2, f_170^0'=f_170^post2, __disjvr_23^0'=__disjvr_23^post2, len_132^0'=len_132^post2, __disjvr_7^0'=__disjvr_7^post2, temp0_15^0'=temp0_15^post2, temp_35^0'=temp_35^post2, __disjvr_18^0'=__disjvr_18^post2, head_32^0'=head_32^post2, __disjvr_28^0'=__disjvr_28^post2, r_163^0'=r_163^post2, __disjvr_10^0'=__disjvr_10^post2, a_237^0'=a_237^post2, y_19^0'=y_19^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_4^0'=__disjvr_4^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, __disjvr_15^0'=__disjvr_15^post2, head_14^0'=head_14^post2, __disjvr_25^0'=__disjvr_25^post2, length_29^0'=length_29^post2, __disjvr_9^0'=__disjvr_9^post2, a_147^0'=a_147^post2, x_16^0'=x_16^post2, __disjvr_1^0'=__disjvr_1^post2, i_108^0'=i_108^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_58^0'=rcd_58^post2, __disjvr_12^0'=__disjvr_12^post2, ct_17^0'=ct_17^post2, i_94^0'=i_94^post2, __disjvr_6^0'=__disjvr_6^post2, t_23^0'=t_23^post2, temp0_31^0'=temp0_31^post2, __disjvr_17^0'=__disjvr_17^post2, head_27^0'=head_27^post2, __disjvr_27^0'=__disjvr_27^post2, r_124^0'=r_124^post2, (-rcd_58^post2+rcd_58^0 == 0 /\ a_215^0-a_215^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -head_175^post2+head_175^0 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -a_237^post2+a_237^0 == 0 /\ a_147^0-a_147^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ temp_35^0-temp_35^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -head_27^post2+head_27^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -length_29^post2+length_29^0 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ r_163^0-r_163^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -t_23^post2+t_23^0 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ head_129^0-head_129^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ f_170^0-f_170^post2 == 0 /\ -x_16^post2+x_16^0 == 0 /\ i_108^0-i_108^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -head_SLAM_f_26^post2+head_SLAM_f_26^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -y_19^post2+y_19^0 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -a_184^post2+a_184^0 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -len_183^post2+len_183^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post2 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ __disjvr_30^0-__disjvr_30^post2 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -len_132^post2+len_132^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ a_260^0-a_260^post2 == 0 /\ -__disjvr_0^0+__disjvr_0^post2 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0), cost: 1
   3: l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_215^0'=a_215^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, __disjvr_21^0'=__disjvr_21^post3, __disjvr_3^0'=__disjvr_3^post3, result_11^0'=result_11^post3, __disjvr_14^0'=__disjvr_14^post3, head_129^0'=head_129^post3, __disjvr_24^0'=__disjvr_24^post3, len_183^0'=len_183^post3, __disjvr_8^0'=__disjvr_8^post3, a_116^0'=a_116^post3, tmp_34^0'=tmp_34^post3, __disjvr_19^0'=__disjvr_19^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, __disjvr_29^0'=__disjvr_29^post3, r_39^0'=r_39^post3, __disjvr_11^0'=__disjvr_11^post3, a_260^0'=a_260^post3, i_30^0'=i_30^post3, __disjvr_5^0'=__disjvr_5^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_16^0'=__disjvr_16^post3, head_175^0'=head_175^post3, __disjvr_26^0'=__disjvr_26^post3, nondet_12^0'=nondet_12^post3, a_184^0'=a_184^post3, x_20^0'=x_20^post3, __disjvr_20^0'=__disjvr_20^post3, i_167^0'=i_167^post3, __disjvr_30^0'=__disjvr_30^post3, rcd_88^0'=rcd_88^post3, __disjvr_13^0'=__disjvr_13^post3, f_170^0'=f_170^post3, __disjvr_23^0'=__disjvr_23^post3, len_132^0'=len_132^post3, __disjvr_7^0'=__disjvr_7^post3, temp0_15^0'=temp0_15^post3, temp_35^0'=temp_35^post3, __disjvr_18^0'=__disjvr_18^post3, head_32^0'=head_32^post3, __disjvr_28^0'=__disjvr_28^post3, r_163^0'=r_163^post3, __disjvr_10^0'=__disjvr_10^post3, a_237^0'=a_237^post3, y_19^0'=y_19^post3, __disjvr_22^0'=__disjvr_22^post3, __disjvr_4^0'=__disjvr_4^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, __disjvr_15^0'=__disjvr_15^post3, head_14^0'=head_14^post3, __disjvr_25^0'=__disjvr_25^post3, length_29^0'=length_29^post3, __disjvr_9^0'=__disjvr_9^post3, a_147^0'=a_147^post3, x_16^0'=x_16^post3, __disjvr_1^0'=__disjvr_1^post3, i_108^0'=i_108^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_58^0'=rcd_58^post3, __disjvr_12^0'=__disjvr_12^post3, ct_17^0'=ct_17^post3, i_94^0'=i_94^post3, __disjvr_6^0'=__disjvr_6^post3, t_23^0'=t_23^post3, temp0_31^0'=temp0_31^post3, __disjvr_17^0'=__disjvr_17^post3, head_27^0'=head_27^post3, __disjvr_27^0'=__disjvr_27^post3, r_124^0'=r_124^post3, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post3 == 0 /\ -temp0_31^post3+temp0_31^0 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ len_183^0-len_183^post3 == 0 /\ y_19^0-y_19^post3 == 0 /\ len_132^0-len_132^post3 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ -y_19^0 <= 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ 1+a_260^post3-a_237^0 <= 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -f_170^post3+f_170^0 == 0 /\ -i_30^post3+i_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ -__disjvr_9^post3+__disjvr_9^0 == 0 /\ -i_108^post3+i_108^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ -i_167^post3+i_167^0 == 0 /\ -ct_17^post3+ct_17^0 == 0 /\ -x_20^0+t_23^post3 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ -r_124^post3+r_124^0 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -__disjvr_25^post3+__disjvr_25^0 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -a_237^post3+a_237^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ -__disjvr_13^post3+__disjvr_13^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ -a_147^post3+a_147^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post3 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ r_39^0-r_39^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -head_14^post3+head_14^0 == 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -1-a_260^post3+a_237^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_19^0 <= 0 /\ -head_32^post3+head_32^0 == 0 /\ x_20^0-x_20^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ a_184^0-a_184^post3 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ a_215^0-a_215^post3 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -head_129^post3+head_129^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -length_29^post3+length_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post3 == 0 /\ -head_27^post3+head_27^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -ct_17^0 <= 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ -a_116^post3+a_116^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ temp_35^0-temp_35^post3 == 0), cost: 1
   4: l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_215^0'=a_215^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, __disjvr_21^0'=__disjvr_21^post4, __disjvr_3^0'=__disjvr_3^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, head_129^0'=head_129^post4, __disjvr_24^0'=__disjvr_24^post4, len_183^0'=len_183^post4, __disjvr_8^0'=__disjvr_8^post4, a_116^0'=a_116^post4, tmp_34^0'=tmp_34^post4, __disjvr_19^0'=__disjvr_19^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, __disjvr_29^0'=__disjvr_29^post4, r_39^0'=r_39^post4, __disjvr_11^0'=__disjvr_11^post4, a_260^0'=a_260^post4, i_30^0'=i_30^post4, __disjvr_5^0'=__disjvr_5^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_16^0'=__disjvr_16^post4, head_175^0'=head_175^post4, __disjvr_26^0'=__disjvr_26^post4, nondet_12^0'=nondet_12^post4, a_184^0'=a_184^post4, x_20^0'=x_20^post4, __disjvr_20^0'=__disjvr_20^post4, i_167^0'=i_167^post4, __disjvr_30^0'=__disjvr_30^post4, rcd_88^0'=rcd_88^post4, __disjvr_13^0'=__disjvr_13^post4, f_170^0'=f_170^post4, __disjvr_23^0'=__disjvr_23^post4, len_132^0'=len_132^post4, __disjvr_7^0'=__disjvr_7^post4, temp0_15^0'=temp0_15^post4, temp_35^0'=temp_35^post4, __disjvr_18^0'=__disjvr_18^post4, head_32^0'=head_32^post4, __disjvr_28^0'=__disjvr_28^post4, r_163^0'=r_163^post4, __disjvr_10^0'=__disjvr_10^post4, a_237^0'=a_237^post4, y_19^0'=y_19^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_4^0'=__disjvr_4^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, __disjvr_15^0'=__disjvr_15^post4, head_14^0'=head_14^post4, __disjvr_25^0'=__disjvr_25^post4, length_29^0'=length_29^post4, __disjvr_9^0'=__disjvr_9^post4, a_147^0'=a_147^post4, x_16^0'=x_16^post4, __disjvr_1^0'=__disjvr_1^post4, i_108^0'=i_108^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_58^0'=rcd_58^post4, __disjvr_12^0'=__disjvr_12^post4, ct_17^0'=ct_17^post4, i_94^0'=i_94^post4, __disjvr_6^0'=__disjvr_6^post4, t_23^0'=t_23^post4, temp0_31^0'=temp0_31^post4, __disjvr_17^0'=__disjvr_17^post4, head_27^0'=head_27^post4, __disjvr_27^0'=__disjvr_27^post4, r_124^0'=r_124^post4, (a_116^0-a_116^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -a_260^post4+a_260^0 == 0 /\ a_147^0-a_147^post4 == 0 /\ -r_163^post4+r_163^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ -head_14^post4+head_14^0 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ __disjvr_7^0-__disjvr_7^post4 == 0 /\ -t_23^post4+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -rcd_58^post4+rcd_58^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -y_19^post4+y_19^0 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post4 == 0 /\ -x_16^post4+x_16^0 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ __disjvr_30^0-__disjvr_30^post4 == 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ a_184^0-a_184^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ a_215^0-a_215^post4 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ -temp0_15^post4+temp0_15^0 == 0 /\ -r_39^post4+r_39^0 == 0 /\ -head_27^post4+head_27^0 == 0 /\ -__disjvr_24^post4+__disjvr_24^0 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ i_30^0-i_30^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post4 == 0 /\ i_167^0-i_167^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ len_183^0-len_183^post4 == 0 /\ -r_124^post4+r_124^0 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ len_132^0-len_132^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ a_237^0-a_237^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -rcd_88^post4+rcd_88^0 == 0 /\ f_170^0-f_170^post4 == 0 /\ -ct_17^post4+ct_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ head_129^0-head_129^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -x_20^post4+x_20^0 == 0), cost: 1
   5: l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_215^0'=a_215^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, __disjvr_21^0'=__disjvr_21^post5, __disjvr_3^0'=__disjvr_3^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, head_129^0'=head_129^post5, __disjvr_24^0'=__disjvr_24^post5, len_183^0'=len_183^post5, __disjvr_8^0'=__disjvr_8^post5, a_116^0'=a_116^post5, tmp_34^0'=tmp_34^post5, __disjvr_19^0'=__disjvr_19^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, __disjvr_29^0'=__disjvr_29^post5, r_39^0'=r_39^post5, __disjvr_11^0'=__disjvr_11^post5, a_260^0'=a_260^post5, i_30^0'=i_30^post5, __disjvr_5^0'=__disjvr_5^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_16^0'=__disjvr_16^post5, head_175^0'=head_175^post5, __disjvr_26^0'=__disjvr_26^post5, nondet_12^0'=nondet_12^post5, a_184^0'=a_184^post5, x_20^0'=x_20^post5, __disjvr_20^0'=__disjvr_20^post5, i_167^0'=i_167^post5, __disjvr_30^0'=__disjvr_30^post5, rcd_88^0'=rcd_88^post5, __disjvr_13^0'=__disjvr_13^post5, f_170^0'=f_170^post5, __disjvr_23^0'=__disjvr_23^post5, len_132^0'=len_132^post5, __disjvr_7^0'=__disjvr_7^post5, temp0_15^0'=temp0_15^post5, temp_35^0'=temp_35^post5, __disjvr_18^0'=__disjvr_18^post5, head_32^0'=head_32^post5, __disjvr_28^0'=__disjvr_28^post5, r_163^0'=r_163^post5, __disjvr_10^0'=__disjvr_10^post5, a_237^0'=a_237^post5, y_19^0'=y_19^post5, __disjvr_22^0'=__disjvr_22^post5, __disjvr_4^0'=__disjvr_4^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, __disjvr_15^0'=__disjvr_15^post5, head_14^0'=head_14^post5, __disjvr_25^0'=__disjvr_25^post5, length_29^0'=length_29^post5, __disjvr_9^0'=__disjvr_9^post5, a_147^0'=a_147^post5, x_16^0'=x_16^post5, __disjvr_1^0'=__disjvr_1^post5, i_108^0'=i_108^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_58^0'=rcd_58^post5, __disjvr_12^0'=__disjvr_12^post5, ct_17^0'=ct_17^post5, i_94^0'=i_94^post5, __disjvr_6^0'=__disjvr_6^post5, t_23^0'=t_23^post5, temp0_31^0'=temp0_31^post5, __disjvr_17^0'=__disjvr_17^post5, head_27^0'=head_27^post5, __disjvr_27^0'=__disjvr_27^post5, r_124^0'=r_124^post5, (-__disjvr_9^post5+__disjvr_9^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ len_183^0-len_183^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ __disjvr_10^0-__disjvr_10^post5 == 0 /\ -i_108^post5+i_108^0 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ a_215^0-a_215^post5 == 0 /\ -head_27^post5+head_27^0 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -a_237^post5+a_237^0 == 0 /\ -__disjvr_25^post5+__disjvr_25^0 == 0 /\ a_116^0-a_116^post5 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -r_124^post5+r_124^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -__disjvr_2^0+__disjvr_2^post5 == 0 /\ i_30^0-i_30^post5 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ head_175^0-head_175^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ -rcd_88^post5+rcd_88^0 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ -i_94^post5+i_94^0 == 0 /\ -head_14^post5+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post5+head_SLAM_f_26^0 == 0 /\ temp_35^0-temp_35^post5 == 0 /\ -length_29^post5+length_29^0 == 0 /\ -a_147^post5+a_147^0 == 0 /\ head_129^0-head_129^post5 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -r_163^post5+r_163^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ a_260^0-a_260^post5 == 0 /\ -head_32^post5+head_32^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ x_20^0-x_20^post5 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ y_19^0-y_19^post5 == 0 /\ -a_184^post5+a_184^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0), cost: 1
   6: l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_215^0'=a_215^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, __disjvr_21^0'=__disjvr_21^post6, __disjvr_3^0'=__disjvr_3^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, head_129^0'=head_129^post6, __disjvr_24^0'=__disjvr_24^post6, len_183^0'=len_183^post6, __disjvr_8^0'=__disjvr_8^post6, a_116^0'=a_116^post6, tmp_34^0'=tmp_34^post6, __disjvr_19^0'=__disjvr_19^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, __disjvr_29^0'=__disjvr_29^post6, r_39^0'=r_39^post6, __disjvr_11^0'=__disjvr_11^post6, a_260^0'=a_260^post6, i_30^0'=i_30^post6, __disjvr_5^0'=__disjvr_5^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_16^0'=__disjvr_16^post6, head_175^0'=head_175^post6, __disjvr_26^0'=__disjvr_26^post6, nondet_12^0'=nondet_12^post6, a_184^0'=a_184^post6, x_20^0'=x_20^post6, __disjvr_20^0'=__disjvr_20^post6, i_167^0'=i_167^post6, __disjvr_30^0'=__disjvr_30^post6, rcd_88^0'=rcd_88^post6, __disjvr_13^0'=__disjvr_13^post6, f_170^0'=f_170^post6, __disjvr_23^0'=__disjvr_23^post6, len_132^0'=len_132^post6, __disjvr_7^0'=__disjvr_7^post6, temp0_15^0'=temp0_15^post6, temp_35^0'=temp_35^post6, __disjvr_18^0'=__disjvr_18^post6, head_32^0'=head_32^post6, __disjvr_28^0'=__disjvr_28^post6, r_163^0'=r_163^post6, __disjvr_10^0'=__disjvr_10^post6, a_237^0'=a_237^post6, y_19^0'=y_19^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_4^0'=__disjvr_4^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, __disjvr_15^0'=__disjvr_15^post6, head_14^0'=head_14^post6, __disjvr_25^0'=__disjvr_25^post6, length_29^0'=length_29^post6, __disjvr_9^0'=__disjvr_9^post6, a_147^0'=a_147^post6, x_16^0'=x_16^post6, __disjvr_1^0'=__disjvr_1^post6, i_108^0'=i_108^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_58^0'=rcd_58^post6, __disjvr_12^0'=__disjvr_12^post6, ct_17^0'=ct_17^post6, i_94^0'=i_94^post6, __disjvr_6^0'=__disjvr_6^post6, t_23^0'=t_23^post6, temp0_31^0'=temp0_31^post6, __disjvr_17^0'=__disjvr_17^post6, head_27^0'=head_27^post6, __disjvr_27^0'=__disjvr_27^post6, r_124^0'=r_124^post6, (-__disjvr_23^post6+__disjvr_23^0 == 0 /\ -i_94^post6+i_94^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post6 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -t_23^post6+t_23^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ i_167^0-i_167^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ -a_147^post6+a_147^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -head_27^post6+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post6 == 0 /\ -__disjvr_30^post6+__disjvr_30^0 == 0 /\ -y_19^post6+y_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ -__disjvr_3^0+__disjvr_3^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ a_260^0-a_260^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -a_116^post6+a_116^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ a_215^0-a_215^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ head_175^0-head_175^post6 == 0 /\ -temp0_15^post6+temp0_15^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -__disjvr_19^post6+__disjvr_19^0 == 0 /\ len_132^0-len_132^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -i_108^post6+i_108^0 == 0 /\ r_39^0-r_39^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0 /\ tmp_34^0-tmp_34^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ len_183^0-len_183^post6 == 0 /\ -r_124^post6+r_124^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ head_14^0-head_14^post6 == 0 /\ head_129^0-head_129^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ length_29^0-length_29^post6 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ a_184^0-a_184^post6 == 0 /\ a_237^0-a_237^post6 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0), cost: 1
   7: l8 -> l2 : __disjvr_0^0'=__disjvr_0^post7, a_215^0'=a_215^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, __disjvr_21^0'=__disjvr_21^post7, __disjvr_3^0'=__disjvr_3^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, head_129^0'=head_129^post7, __disjvr_24^0'=__disjvr_24^post7, len_183^0'=len_183^post7, __disjvr_8^0'=__disjvr_8^post7, a_116^0'=a_116^post7, tmp_34^0'=tmp_34^post7, __disjvr_19^0'=__disjvr_19^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, __disjvr_29^0'=__disjvr_29^post7, r_39^0'=r_39^post7, __disjvr_11^0'=__disjvr_11^post7, a_260^0'=a_260^post7, i_30^0'=i_30^post7, __disjvr_5^0'=__disjvr_5^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_16^0'=__disjvr_16^post7, head_175^0'=head_175^post7, __disjvr_26^0'=__disjvr_26^post7, nondet_12^0'=nondet_12^post7, a_184^0'=a_184^post7, x_20^0'=x_20^post7, __disjvr_20^0'=__disjvr_20^post7, i_167^0'=i_167^post7, __disjvr_30^0'=__disjvr_30^post7, rcd_88^0'=rcd_88^post7, __disjvr_13^0'=__disjvr_13^post7, f_170^0'=f_170^post7, __disjvr_23^0'=__disjvr_23^post7, len_132^0'=len_132^post7, __disjvr_7^0'=__disjvr_7^post7, temp0_15^0'=temp0_15^post7, temp_35^0'=temp_35^post7, __disjvr_18^0'=__disjvr_18^post7, head_32^0'=head_32^post7, __disjvr_28^0'=__disjvr_28^post7, r_163^0'=r_163^post7, __disjvr_10^0'=__disjvr_10^post7, a_237^0'=a_237^post7, y_19^0'=y_19^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_4^0'=__disjvr_4^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, __disjvr_15^0'=__disjvr_15^post7, head_14^0'=head_14^post7, __disjvr_25^0'=__disjvr_25^post7, length_29^0'=length_29^post7, __disjvr_9^0'=__disjvr_9^post7, a_147^0'=a_147^post7, x_16^0'=x_16^post7, __disjvr_1^0'=__disjvr_1^post7, i_108^0'=i_108^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_58^0'=rcd_58^post7, __disjvr_12^0'=__disjvr_12^post7, ct_17^0'=ct_17^post7, i_94^0'=i_94^post7, __disjvr_6^0'=__disjvr_6^post7, t_23^0'=t_23^post7, temp0_31^0'=temp0_31^post7, __disjvr_17^0'=__disjvr_17^post7, head_27^0'=head_27^post7, __disjvr_27^0'=__disjvr_27^post7, r_124^0'=r_124^post7, (0 == 0 /\ -i_167^post7+i_167^0 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -temp0_15^post7+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ head_32^0-head_32^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ r_163^0-r_163^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ head_129^0-head_129^post7 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -x_16^post7+x_16^0 == 0 /\ a_260^0-a_260^post7 == 0 /\ a_260^0-a_237^post7 <= 0 /\ a_147^0-a_147^post7 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ a_215^0-a_215^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ f_170^0-f_170^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -a_260^0+a_237^post7 <= 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ __disjvr_7^0-__disjvr_7^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -length_29^post7+length_29^0 == 0 /\ len_183^0-len_183^post7 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ i_94^0-i_94^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post7+head_SLAM_f_26^0 == 0 /\ -r_124^post7+r_124^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -len_132^post7+len_132^0 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ -head_14^post7+head_14^0 == 0 /\ a_116^0-a_116^post7 == 0 /\ -head_175^post7+head_175^0 == 0 /\ -head_27^post7+head_27^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -y_19^post7+y_19^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ x_20^0-x_20^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_184^post7+a_184^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0), cost: 1
   8: l2 -> l0 : __disjvr_0^0'=__disjvr_0^post8, a_215^0'=a_215^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, __disjvr_21^0'=__disjvr_21^post8, __disjvr_3^0'=__disjvr_3^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, head_129^0'=head_129^post8, __disjvr_24^0'=__disjvr_24^post8, len_183^0'=len_183^post8, __disjvr_8^0'=__disjvr_8^post8, a_116^0'=a_116^post8, tmp_34^0'=tmp_34^post8, __disjvr_19^0'=__disjvr_19^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, __disjvr_29^0'=__disjvr_29^post8, r_39^0'=r_39^post8, __disjvr_11^0'=__disjvr_11^post8, a_260^0'=a_260^post8, i_30^0'=i_30^post8, __disjvr_5^0'=__disjvr_5^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_16^0'=__disjvr_16^post8, head_175^0'=head_175^post8, __disjvr_26^0'=__disjvr_26^post8, nondet_12^0'=nondet_12^post8, a_184^0'=a_184^post8, x_20^0'=x_20^post8, __disjvr_20^0'=__disjvr_20^post8, i_167^0'=i_167^post8, __disjvr_30^0'=__disjvr_30^post8, rcd_88^0'=rcd_88^post8, __disjvr_13^0'=__disjvr_13^post8, f_170^0'=f_170^post8, __disjvr_23^0'=__disjvr_23^post8, len_132^0'=len_132^post8, __disjvr_7^0'=__disjvr_7^post8, temp0_15^0'=temp0_15^post8, temp_35^0'=temp_35^post8, __disjvr_18^0'=__disjvr_18^post8, head_32^0'=head_32^post8, __disjvr_28^0'=__disjvr_28^post8, r_163^0'=r_163^post8, __disjvr_10^0'=__disjvr_10^post8, a_237^0'=a_237^post8, y_19^0'=y_19^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_4^0'=__disjvr_4^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, __disjvr_15^0'=__disjvr_15^post8, head_14^0'=head_14^post8, __disjvr_25^0'=__disjvr_25^post8, length_29^0'=length_29^post8, __disjvr_9^0'=__disjvr_9^post8, a_147^0'=a_147^post8, x_16^0'=x_16^post8, __disjvr_1^0'=__disjvr_1^post8, i_108^0'=i_108^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_58^0'=rcd_58^post8, __disjvr_12^0'=__disjvr_12^post8, ct_17^0'=ct_17^post8, i_94^0'=i_94^post8, __disjvr_6^0'=__disjvr_6^post8, t_23^0'=t_23^post8, temp0_31^0'=temp0_31^post8, __disjvr_17^0'=__disjvr_17^post8, head_27^0'=head_27^post8, __disjvr_27^0'=__disjvr_27^post8, r_124^0'=r_124^post8, (a_215^0-a_215^post8 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ head_175^0-head_175^post8 == 0 /\ -t_23^post8+t_23^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ len_132^0-len_132^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ y_19^0-y_19^post8 == 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ -i_94^post8+i_94^0 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -a_147^post8+a_147^0 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ __disjvr_12^0-__disjvr_12^post8 == 0 /\ -head_27^post8+head_27^0 == 0 /\ -r_163^post8+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ head_129^0-head_129^post8 == 0 /\ -f_170^post8+f_170^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ i_108^0-i_108^post8 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ a_116^0-a_116^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ x_20^0-x_20^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -__disjvr_4^post8+__disjvr_4^0 == 0 /\ -temp_35^post8+temp_35^0 == 0 /\ i_167^0-i_167^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ -a_237^post8+a_237^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post8 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post8 == 0 /\ rcd_88^0-rcd_88^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ a_184^0-a_184^post8 == 0 /\ -__disjvr_9^post8+__disjvr_9^0 == 0 /\ a_260^0-a_260^post8 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0), cost: 1
  19: l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_215^0'=a_215^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, __disjvr_21^0'=__disjvr_21^post19, __disjvr_3^0'=__disjvr_3^post19, result_11^0'=result_11^post19, __disjvr_14^0'=__disjvr_14^post19, head_129^0'=head_129^post19, __disjvr_24^0'=__disjvr_24^post19, len_183^0'=len_183^post19, __disjvr_8^0'=__disjvr_8^post19, a_116^0'=a_116^post19, tmp_34^0'=tmp_34^post19, __disjvr_19^0'=__disjvr_19^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, __disjvr_29^0'=__disjvr_29^post19, r_39^0'=r_39^post19, __disjvr_11^0'=__disjvr_11^post19, a_260^0'=a_260^post19, i_30^0'=i_30^post19, __disjvr_5^0'=__disjvr_5^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, __disjvr_16^0'=__disjvr_16^post19, head_175^0'=head_175^post19, __disjvr_26^0'=__disjvr_26^post19, nondet_12^0'=nondet_12^post19, a_184^0'=a_184^post19, x_20^0'=x_20^post19, __disjvr_20^0'=__disjvr_20^post19, i_167^0'=i_167^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_88^0'=rcd_88^post19, __disjvr_13^0'=__disjvr_13^post19, f_170^0'=f_170^post19, __disjvr_23^0'=__disjvr_23^post19, len_132^0'=len_132^post19, __disjvr_7^0'=__disjvr_7^post19, temp0_15^0'=temp0_15^post19, temp_35^0'=temp_35^post19, __disjvr_18^0'=__disjvr_18^post19, head_32^0'=head_32^post19, __disjvr_28^0'=__disjvr_28^post19, r_163^0'=r_163^post19, __disjvr_10^0'=__disjvr_10^post19, a_237^0'=a_237^post19, y_19^0'=y_19^post19, __disjvr_22^0'=__disjvr_22^post19, __disjvr_4^0'=__disjvr_4^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, __disjvr_15^0'=__disjvr_15^post19, head_14^0'=head_14^post19, __disjvr_25^0'=__disjvr_25^post19, length_29^0'=length_29^post19, __disjvr_9^0'=__disjvr_9^post19, a_147^0'=a_147^post19, x_16^0'=x_16^post19, __disjvr_1^0'=__disjvr_1^post19, i_108^0'=i_108^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_58^0'=rcd_58^post19, __disjvr_12^0'=__disjvr_12^post19, ct_17^0'=ct_17^post19, i_94^0'=i_94^post19, __disjvr_6^0'=__disjvr_6^post19, t_23^0'=t_23^post19, temp0_31^0'=temp0_31^post19, __disjvr_17^0'=__disjvr_17^post19, head_27^0'=head_27^post19, __disjvr_27^0'=__disjvr_27^post19, r_124^0'=r_124^post19, (0 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -rcd_58^post19+rcd_58^0 == 0 /\ -r_163^post19+r_163^0 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -head_32^post19+head_32^0 == 0 /\ -a_260^post19+a_260^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ tmp_34^0-tmp_34^post19 == 0 /\ -r_124^post19+r_124^0 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_183^0-len_183^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ -head_27^post19+head_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0 /\ -f_170^post19+f_170^0 == 0 /\ -r_39^post19+r_39^0 == 0 /\ -len_132^0 <= 0 /\ -i_94^post19+i_94^0 == 0 /\ -y_19^post19+y_19^0 == 0 /\ a_184^0-a_184^post19 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ a_116^0-a_116^post19 == 0 /\ -temp0_15^post19+temp0_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ a_215^0-a_215^post19 == 0 /\ __disjvr_15^0-__disjvr_15^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -i_108^post19+i_108^0 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ __disjvr_30^0-__disjvr_30^post19 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ i_30^0-i_30^post19 == 0 /\ i_167^0-i_167^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -a_147^post19+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ len_132^0-len_132^post19 == 0 /\ -x_20^post19+x_20^0 == 0 /\ -a_237^post19+a_237^0 == 0 /\ head_129^0-head_129^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ -temp0_31^post19+temp0_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0), cost: 1
  20: l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_215^0'=a_215^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, __disjvr_21^0'=__disjvr_21^post20, __disjvr_3^0'=__disjvr_3^post20, result_11^0'=result_11^post20, __disjvr_14^0'=__disjvr_14^post20, head_129^0'=head_129^post20, __disjvr_24^0'=__disjvr_24^post20, len_183^0'=len_183^post20, __disjvr_8^0'=__disjvr_8^post20, a_116^0'=a_116^post20, tmp_34^0'=tmp_34^post20, __disjvr_19^0'=__disjvr_19^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, __disjvr_29^0'=__disjvr_29^post20, r_39^0'=r_39^post20, __disjvr_11^0'=__disjvr_11^post20, a_260^0'=a_260^post20, i_30^0'=i_30^post20, __disjvr_5^0'=__disjvr_5^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_16^0'=__disjvr_16^post20, head_175^0'=head_175^post20, __disjvr_26^0'=__disjvr_26^post20, nondet_12^0'=nondet_12^post20, a_184^0'=a_184^post20, x_20^0'=x_20^post20, __disjvr_20^0'=__disjvr_20^post20, i_167^0'=i_167^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_88^0'=rcd_88^post20, __disjvr_13^0'=__disjvr_13^post20, f_170^0'=f_170^post20, __disjvr_23^0'=__disjvr_23^post20, len_132^0'=len_132^post20, __disjvr_7^0'=__disjvr_7^post20, temp0_15^0'=temp0_15^post20, temp_35^0'=temp_35^post20, __disjvr_18^0'=__disjvr_18^post20, head_32^0'=head_32^post20, __disjvr_28^0'=__disjvr_28^post20, r_163^0'=r_163^post20, __disjvr_10^0'=__disjvr_10^post20, a_237^0'=a_237^post20, y_19^0'=y_19^post20, __disjvr_22^0'=__disjvr_22^post20, __disjvr_4^0'=__disjvr_4^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, __disjvr_15^0'=__disjvr_15^post20, head_14^0'=head_14^post20, __disjvr_25^0'=__disjvr_25^post20, length_29^0'=length_29^post20, __disjvr_9^0'=__disjvr_9^post20, a_147^0'=a_147^post20, x_16^0'=x_16^post20, __disjvr_1^0'=__disjvr_1^post20, i_108^0'=i_108^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_58^0'=rcd_58^post20, __disjvr_12^0'=__disjvr_12^post20, ct_17^0'=ct_17^post20, i_94^0'=i_94^post20, __disjvr_6^0'=__disjvr_6^post20, t_23^0'=t_23^post20, temp0_31^0'=temp0_31^post20, __disjvr_17^0'=__disjvr_17^post20, head_27^0'=head_27^post20, __disjvr_27^0'=__disjvr_27^post20, r_124^0'=r_124^post20, (x_SLAM_f_18^0-x_SLAM_f_18^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ len_183^0-len_183^post20 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ a_237^0-a_237^post20 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -i_108^post20+i_108^0 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ -len_132^post20+len_132^0 == 0 /\ -a_147^post20+a_147^0 == 0 /\ a_116^0-a_116^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ a_215^0-a_215^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -ct_17^post20+ct_17^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ i_30^0-i_30^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ i_167^0-i_167^post20 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ head_175^0-head_175^post20 == 0 /\ -r_163^post20+r_163^0 == 0 /\ length_29^0-length_29^post20 == 0 /\ r_39^0-r_39^post20 == 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ a_260^0-a_260^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ head_14^0-head_14^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ -rcd_58^post20+rcd_58^0 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ -i_94^post20+i_94^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -r_124^post20+r_124^0 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ head_129^0-head_129^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ -a_184^post20+a_184^0 == 0 /\ -t_23^post20+t_23^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ x_20^0-x_20^post20 == 0 /\ -x_16^post20+x_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_27^post20+head_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -y_19^post20+y_19^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0), cost: 1
  21: l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_215^0'=a_215^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, __disjvr_21^0'=__disjvr_21^post21, __disjvr_3^0'=__disjvr_3^post21, result_11^0'=result_11^post21, __disjvr_14^0'=__disjvr_14^post21, head_129^0'=head_129^post21, __disjvr_24^0'=__disjvr_24^post21, len_183^0'=len_183^post21, __disjvr_8^0'=__disjvr_8^post21, a_116^0'=a_116^post21, tmp_34^0'=tmp_34^post21, __disjvr_19^0'=__disjvr_19^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, __disjvr_29^0'=__disjvr_29^post21, r_39^0'=r_39^post21, __disjvr_11^0'=__disjvr_11^post21, a_260^0'=a_260^post21, i_30^0'=i_30^post21, __disjvr_5^0'=__disjvr_5^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_16^0'=__disjvr_16^post21, head_175^0'=head_175^post21, __disjvr_26^0'=__disjvr_26^post21, nondet_12^0'=nondet_12^post21, a_184^0'=a_184^post21, x_20^0'=x_20^post21, __disjvr_20^0'=__disjvr_20^post21, i_167^0'=i_167^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_88^0'=rcd_88^post21, __disjvr_13^0'=__disjvr_13^post21, f_170^0'=f_170^post21, __disjvr_23^0'=__disjvr_23^post21, len_132^0'=len_132^post21, __disjvr_7^0'=__disjvr_7^post21, temp0_15^0'=temp0_15^post21, temp_35^0'=temp_35^post21, __disjvr_18^0'=__disjvr_18^post21, head_32^0'=head_32^post21, __disjvr_28^0'=__disjvr_28^post21, r_163^0'=r_163^post21, __disjvr_10^0'=__disjvr_10^post21, a_237^0'=a_237^post21, y_19^0'=y_19^post21, __disjvr_22^0'=__disjvr_22^post21, __disjvr_4^0'=__disjvr_4^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, __disjvr_15^0'=__disjvr_15^post21, head_14^0'=head_14^post21, __disjvr_25^0'=__disjvr_25^post21, length_29^0'=length_29^post21, __disjvr_9^0'=__disjvr_9^post21, a_147^0'=a_147^post21, x_16^0'=x_16^post21, __disjvr_1^0'=__disjvr_1^post21, i_108^0'=i_108^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_58^0'=rcd_58^post21, __disjvr_12^0'=__disjvr_12^post21, ct_17^0'=ct_17^post21, i_94^0'=i_94^post21, __disjvr_6^0'=__disjvr_6^post21, t_23^0'=t_23^post21, temp0_31^0'=temp0_31^post21, __disjvr_17^0'=__disjvr_17^post21, head_27^0'=head_27^post21, __disjvr_27^0'=__disjvr_27^post21, r_124^0'=r_124^post21, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -y_19^0 <= 0 /\ i_30^0-i_30^post21 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -head_175^post21+head_175^0 == 0 /\ -i_94^post21+i_94^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ a_260^0-a_260^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ rcd_88^0-rcd_88^post21 == 0 /\ -a_116^post21+a_116^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ -head_27^post21+head_27^0 == 0 /\ -x_16^post21+x_16^0 == 0 /\ -length_29^post21+length_29^0 == 0 /\ -head_14^post21+head_14^0 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ x_20^0-x_20^post21 == 0 /\ head_14^0-x_16^0 <= 0 /\ temp_35^0-temp_35^post21 == 0 /\ -a_237^0+a_215^post21 <= 0 /\ y_19^0 <= 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ tmp_34^0-tmp_34^post21 == 0 /\ -x_20^0+t_23^post21 == 0 /\ head_14^0-t_23^post21 <= 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -i_167^post21+i_167^0 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ y_19^0-y_19^post21 == 0 /\ -ct_17^post21+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post21 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ r_39^0-r_39^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ r_163^0-r_163^post21 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -r_124^post21+r_124^0 == 0 /\ -i_108^post21+i_108^0 == 0 /\ -a_147^post21+a_147^0 == 0 /\ len_183^0-len_183^post21 == 0 /\ -len_132^post21+len_132^0 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ -ct_17^0 <= 0 /\ a_237^0-a_215^post21 <= 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -head_14^0+t_23^post21 <= 0 /\ a_184^0-a_184^post21 == 0 /\ head_32^0-head_32^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ head_129^0-head_129^post21 == 0 /\ -a_237^post21+a_237^0 == 0), cost: 1
  22: l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_215^0'=a_215^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, __disjvr_21^0'=__disjvr_21^post22, __disjvr_3^0'=__disjvr_3^post22, result_11^0'=result_11^post22, __disjvr_14^0'=__disjvr_14^post22, head_129^0'=head_129^post22, __disjvr_24^0'=__disjvr_24^post22, len_183^0'=len_183^post22, __disjvr_8^0'=__disjvr_8^post22, a_116^0'=a_116^post22, tmp_34^0'=tmp_34^post22, __disjvr_19^0'=__disjvr_19^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, __disjvr_29^0'=__disjvr_29^post22, r_39^0'=r_39^post22, __disjvr_11^0'=__disjvr_11^post22, a_260^0'=a_260^post22, i_30^0'=i_30^post22, __disjvr_5^0'=__disjvr_5^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_16^0'=__disjvr_16^post22, head_175^0'=head_175^post22, __disjvr_26^0'=__disjvr_26^post22, nondet_12^0'=nondet_12^post22, a_184^0'=a_184^post22, x_20^0'=x_20^post22, __disjvr_20^0'=__disjvr_20^post22, i_167^0'=i_167^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_88^0'=rcd_88^post22, __disjvr_13^0'=__disjvr_13^post22, f_170^0'=f_170^post22, __disjvr_23^0'=__disjvr_23^post22, len_132^0'=len_132^post22, __disjvr_7^0'=__disjvr_7^post22, temp0_15^0'=temp0_15^post22, temp_35^0'=temp_35^post22, __disjvr_18^0'=__disjvr_18^post22, head_32^0'=head_32^post22, __disjvr_28^0'=__disjvr_28^post22, r_163^0'=r_163^post22, __disjvr_10^0'=__disjvr_10^post22, a_237^0'=a_237^post22, y_19^0'=y_19^post22, __disjvr_22^0'=__disjvr_22^post22, __disjvr_4^0'=__disjvr_4^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, __disjvr_15^0'=__disjvr_15^post22, head_14^0'=head_14^post22, __disjvr_25^0'=__disjvr_25^post22, length_29^0'=length_29^post22, __disjvr_9^0'=__disjvr_9^post22, a_147^0'=a_147^post22, x_16^0'=x_16^post22, __disjvr_1^0'=__disjvr_1^post22, i_108^0'=i_108^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_58^0'=rcd_58^post22, __disjvr_12^0'=__disjvr_12^post22, ct_17^0'=ct_17^post22, i_94^0'=i_94^post22, __disjvr_6^0'=__disjvr_6^post22, t_23^0'=t_23^post22, temp0_31^0'=temp0_31^post22, __disjvr_17^0'=__disjvr_17^post22, head_27^0'=head_27^post22, __disjvr_27^0'=__disjvr_27^post22, r_124^0'=r_124^post22, (-__disjvr_12^post22+__disjvr_12^0 == 0 /\ a_260^0-a_260^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ -rcd_88^post22+rcd_88^0 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ -f_170^post22+f_170^0 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ x_16^0-x_16^post22 == 0 /\ a_215^0-a_215^post22 == 0 /\ a_184^0-a_184^post22 == 0 /\ -__disjvr_26^post22+__disjvr_26^0 == 0 /\ head_129^0-head_129^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ -r_124^post22+r_124^0 == 0 /\ -i_108^post22+i_108^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -a_147^post22+a_147^0 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ -x_20^post22+x_20^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -temp0_15^post22+temp0_15^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -i_94^post22+i_94^0 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ __disjvr_22^0-__disjvr_22^post22 == 0 /\ -head_14^post22+head_14^0 == 0 /\ len_183^0-len_183^post22 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ len_132^0-len_132^post22 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ a_237^0-a_237^post22 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ -head_32^post22+head_32^0 == 0 /\ __disjvr_10^post22-__disjvr_10^0 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -r_163^post22+r_163^0 == 0 /\ -t_23^post22+t_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ -r_39^post22+r_39^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ a_116^0-a_116^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ head_175^0-head_175^post22 == 0 /\ -length_29^post22+length_29^0 == 0 /\ -head_27^post22+head_27^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ __disjvr_30^0-__disjvr_30^post22 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ -y_19^post22+y_19^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0), cost: 1
  23: l22 -> l23 : __disjvr_0^0'=__disjvr_0^post23, a_215^0'=a_215^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, __disjvr_21^0'=__disjvr_21^post23, __disjvr_3^0'=__disjvr_3^post23, result_11^0'=result_11^post23, __disjvr_14^0'=__disjvr_14^post23, head_129^0'=head_129^post23, __disjvr_24^0'=__disjvr_24^post23, len_183^0'=len_183^post23, __disjvr_8^0'=__disjvr_8^post23, a_116^0'=a_116^post23, tmp_34^0'=tmp_34^post23, __disjvr_19^0'=__disjvr_19^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, __disjvr_29^0'=__disjvr_29^post23, r_39^0'=r_39^post23, __disjvr_11^0'=__disjvr_11^post23, a_260^0'=a_260^post23, i_30^0'=i_30^post23, __disjvr_5^0'=__disjvr_5^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_16^0'=__disjvr_16^post23, head_175^0'=head_175^post23, __disjvr_26^0'=__disjvr_26^post23, nondet_12^0'=nondet_12^post23, a_184^0'=a_184^post23, x_20^0'=x_20^post23, __disjvr_20^0'=__disjvr_20^post23, i_167^0'=i_167^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_88^0'=rcd_88^post23, __disjvr_13^0'=__disjvr_13^post23, f_170^0'=f_170^post23, __disjvr_23^0'=__disjvr_23^post23, len_132^0'=len_132^post23, __disjvr_7^0'=__disjvr_7^post23, temp0_15^0'=temp0_15^post23, temp_35^0'=temp_35^post23, __disjvr_18^0'=__disjvr_18^post23, head_32^0'=head_32^post23, __disjvr_28^0'=__disjvr_28^post23, r_163^0'=r_163^post23, __disjvr_10^0'=__disjvr_10^post23, a_237^0'=a_237^post23, y_19^0'=y_19^post23, __disjvr_22^0'=__disjvr_22^post23, __disjvr_4^0'=__disjvr_4^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, __disjvr_15^0'=__disjvr_15^post23, head_14^0'=head_14^post23, __disjvr_25^0'=__disjvr_25^post23, length_29^0'=length_29^post23, __disjvr_9^0'=__disjvr_9^post23, a_147^0'=a_147^post23, x_16^0'=x_16^post23, __disjvr_1^0'=__disjvr_1^post23, i_108^0'=i_108^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_58^0'=rcd_58^post23, __disjvr_12^0'=__disjvr_12^post23, ct_17^0'=ct_17^post23, i_94^0'=i_94^post23, __disjvr_6^0'=__disjvr_6^post23, t_23^0'=t_23^post23, temp0_31^0'=temp0_31^post23, __disjvr_17^0'=__disjvr_17^post23, head_27^0'=head_27^post23, __disjvr_27^0'=__disjvr_27^post23, r_124^0'=r_124^post23, (__disjvr_24^0-__disjvr_24^post23 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ a_147^0-a_147^post23 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -i_94^post23+i_94^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ __disjvr_30^0-__disjvr_30^post23 == 0 /\ -t_23^post23+t_23^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ i_30^0-i_30^post23 == 0 /\ temp_35^0-temp_35^post23 == 0 /\ -head_175^post23+head_175^0 == 0 /\ -head_14^post23+head_14^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -a_184^post23+a_184^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_58^post23+rcd_58^0 == 0 /\ i_108^0-i_108^post23 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ r_163^0-r_163^post23 == 0 /\ r_39^0-r_39^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -head_27^post23+head_27^0 == 0 /\ -__disjvr_15^post23+__disjvr_15^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ a_260^0-a_260^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -y_19^post23+y_19^0 == 0 /\ head_129^0-head_129^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ x_20^0-x_20^post23 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ a_116^0-a_116^post23 == 0 /\ -__disjvr_13^post23+__disjvr_13^0 == 0 /\ -temp0_15^post23+temp0_15^0 == 0 /\ f_170^0-f_170^post23 == 0 /\ -len_183^post23+len_183^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ -x_16^post23+x_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post23 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post23 == 0 /\ -__disjvr_18^post23+__disjvr_18^0 == 0 /\ i_167^0-i_167^post23 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ -a_237^post23+a_237^0 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ head_32^0-head_32^post23 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -ct_17^post23+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ a_215^0-a_215^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ -r_124^post23+r_124^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0), cost: 1
  24: l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_215^0'=a_215^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, __disjvr_21^0'=__disjvr_21^post24, __disjvr_3^0'=__disjvr_3^post24, result_11^0'=result_11^post24, __disjvr_14^0'=__disjvr_14^post24, head_129^0'=head_129^post24, __disjvr_24^0'=__disjvr_24^post24, len_183^0'=len_183^post24, __disjvr_8^0'=__disjvr_8^post24, a_116^0'=a_116^post24, tmp_34^0'=tmp_34^post24, __disjvr_19^0'=__disjvr_19^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, __disjvr_29^0'=__disjvr_29^post24, r_39^0'=r_39^post24, __disjvr_11^0'=__disjvr_11^post24, a_260^0'=a_260^post24, i_30^0'=i_30^post24, __disjvr_5^0'=__disjvr_5^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_16^0'=__disjvr_16^post24, head_175^0'=head_175^post24, __disjvr_26^0'=__disjvr_26^post24, nondet_12^0'=nondet_12^post24, a_184^0'=a_184^post24, x_20^0'=x_20^post24, __disjvr_20^0'=__disjvr_20^post24, i_167^0'=i_167^post24, __disjvr_30^0'=__disjvr_30^post24, rcd_88^0'=rcd_88^post24, __disjvr_13^0'=__disjvr_13^post24, f_170^0'=f_170^post24, __disjvr_23^0'=__disjvr_23^post24, len_132^0'=len_132^post24, __disjvr_7^0'=__disjvr_7^post24, temp0_15^0'=temp0_15^post24, temp_35^0'=temp_35^post24, __disjvr_18^0'=__disjvr_18^post24, head_32^0'=head_32^post24, __disjvr_28^0'=__disjvr_28^post24, r_163^0'=r_163^post24, __disjvr_10^0'=__disjvr_10^post24, a_237^0'=a_237^post24, y_19^0'=y_19^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_4^0'=__disjvr_4^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, __disjvr_15^0'=__disjvr_15^post24, head_14^0'=head_14^post24, __disjvr_25^0'=__disjvr_25^post24, length_29^0'=length_29^post24, __disjvr_9^0'=__disjvr_9^post24, a_147^0'=a_147^post24, x_16^0'=x_16^post24, __disjvr_1^0'=__disjvr_1^post24, i_108^0'=i_108^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_58^0'=rcd_58^post24, __disjvr_12^0'=__disjvr_12^post24, ct_17^0'=ct_17^post24, i_94^0'=i_94^post24, __disjvr_6^0'=__disjvr_6^post24, t_23^0'=t_23^post24, temp0_31^0'=temp0_31^post24, __disjvr_17^0'=__disjvr_17^post24, head_27^0'=head_27^post24, __disjvr_27^0'=__disjvr_27^post24, r_124^0'=r_124^post24, (r_39^0-r_39^post24 == 0 /\ a_260^0-a_260^post24 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ -__disjvr_29^post24+__disjvr_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ __disjvr_12^post24-__disjvr_12^0 == 0 /\ -i_30^post24+i_30^0 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ ct_17^0-ct_17^post24 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -x_16^post24+x_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ -a_237^post24+a_237^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ x_20^0-x_20^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -i_108^post24+i_108^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ -__disjvr_9^post24+__disjvr_9^0 == 0 /\ head_175^0-head_175^post24 == 0 /\ -t_23^post24+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post24 == 0 /\ -r_124^post24+r_124^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ -i_94^post24+i_94^0 == 0 /\ -head_14^post24+head_14^0 == 0 /\ a_184^0-a_184^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -r_163^post24+r_163^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -length_29^post24+length_29^0 == 0 /\ a_215^0-a_215^post24 == 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ -a_147^post24+a_147^0 == 0 /\ head_129^0-head_129^post24 == 0 /\ a_116^0-a_116^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ -head_27^post24+head_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ y_19^0-y_19^post24 == 0 /\ -f_170^post24+f_170^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -i_167^post24+i_167^0 == 0), cost: 1
  25: l24 -> l0 : __disjvr_0^0'=__disjvr_0^post25, a_215^0'=a_215^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, __disjvr_21^0'=__disjvr_21^post25, __disjvr_3^0'=__disjvr_3^post25, result_11^0'=result_11^post25, __disjvr_14^0'=__disjvr_14^post25, head_129^0'=head_129^post25, __disjvr_24^0'=__disjvr_24^post25, len_183^0'=len_183^post25, __disjvr_8^0'=__disjvr_8^post25, a_116^0'=a_116^post25, tmp_34^0'=tmp_34^post25, __disjvr_19^0'=__disjvr_19^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, __disjvr_29^0'=__disjvr_29^post25, r_39^0'=r_39^post25, __disjvr_11^0'=__disjvr_11^post25, a_260^0'=a_260^post25, i_30^0'=i_30^post25, __disjvr_5^0'=__disjvr_5^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_16^0'=__disjvr_16^post25, head_175^0'=head_175^post25, __disjvr_26^0'=__disjvr_26^post25, nondet_12^0'=nondet_12^post25, a_184^0'=a_184^post25, x_20^0'=x_20^post25, __disjvr_20^0'=__disjvr_20^post25, i_167^0'=i_167^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_88^0'=rcd_88^post25, __disjvr_13^0'=__disjvr_13^post25, f_170^0'=f_170^post25, __disjvr_23^0'=__disjvr_23^post25, len_132^0'=len_132^post25, __disjvr_7^0'=__disjvr_7^post25, temp0_15^0'=temp0_15^post25, temp_35^0'=temp_35^post25, __disjvr_18^0'=__disjvr_18^post25, head_32^0'=head_32^post25, __disjvr_28^0'=__disjvr_28^post25, r_163^0'=r_163^post25, __disjvr_10^0'=__disjvr_10^post25, a_237^0'=a_237^post25, y_19^0'=y_19^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_4^0'=__disjvr_4^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, __disjvr_15^0'=__disjvr_15^post25, head_14^0'=head_14^post25, __disjvr_25^0'=__disjvr_25^post25, length_29^0'=length_29^post25, __disjvr_9^0'=__disjvr_9^post25, a_147^0'=a_147^post25, x_16^0'=x_16^post25, __disjvr_1^0'=__disjvr_1^post25, i_108^0'=i_108^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_58^0'=rcd_58^post25, __disjvr_12^0'=__disjvr_12^post25, ct_17^0'=ct_17^post25, i_94^0'=i_94^post25, __disjvr_6^0'=__disjvr_6^post25, t_23^0'=t_23^post25, temp0_31^0'=temp0_31^post25, __disjvr_17^0'=__disjvr_17^post25, head_27^0'=head_27^post25, __disjvr_27^0'=__disjvr_27^post25, r_124^0'=r_124^post25, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ -ct_17^post25+ct_17^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ a_116^0-a_116^post25 == 0 /\ -a_147^post25+a_147^0 == 0 /\ x_16^0-x_16^post25 == 0 /\ i_30^0-i_30^post25 == 0 /\ 1+a_215^0-len_132^post25 <= 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -y_19^post25+y_19^0 == 0 /\ __disjvr_23^0-__disjvr_23^post25 == 0 /\ a_260^0-a_260^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ rcd_88^0-rcd_88^post25 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -head_27^post25+head_27^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -f_170^post25+f_170^0 == 0 /\ -r_163^post25+r_163^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ -__disjvr_30^post25+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ head_175^0-head_175^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ x_20^0-x_20^post25 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -1-a_215^0+len_132^post25 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ -__disjvr_29^post25+__disjvr_29^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ a_237^0-a_237^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_183^0-len_183^post25 == 0 /\ -head_14^post25+head_14^0 == 0 /\ i_167^0-i_167^post25 == 0 /\ r_39^0-r_39^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -i_108^post25+i_108^0 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ a_215^0-a_215^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ a_184^0-a_184^post25 == 0 /\ length_29^0-length_29^post25 == 0 /\ -i_94^post25+i_94^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ head_129^0-head_129^post25 == 0 /\ -t_23^post25+t_23^0 == 0), cost: 1
  39: l25 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_215^0'=a_215^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, __disjvr_21^0'=__disjvr_21^post39, __disjvr_3^0'=__disjvr_3^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, head_129^0'=head_129^post39, __disjvr_24^0'=__disjvr_24^post39, len_183^0'=len_183^post39, __disjvr_8^0'=__disjvr_8^post39, a_116^0'=a_116^post39, tmp_34^0'=tmp_34^post39, __disjvr_19^0'=__disjvr_19^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, __disjvr_29^0'=__disjvr_29^post39, r_39^0'=r_39^post39, __disjvr_11^0'=__disjvr_11^post39, a_260^0'=a_260^post39, i_30^0'=i_30^post39, __disjvr_5^0'=__disjvr_5^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_16^0'=__disjvr_16^post39, head_175^0'=head_175^post39, __disjvr_26^0'=__disjvr_26^post39, nondet_12^0'=nondet_12^post39, a_184^0'=a_184^post39, x_20^0'=x_20^post39, __disjvr_20^0'=__disjvr_20^post39, i_167^0'=i_167^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_88^0'=rcd_88^post39, __disjvr_13^0'=__disjvr_13^post39, f_170^0'=f_170^post39, __disjvr_23^0'=__disjvr_23^post39, len_132^0'=len_132^post39, __disjvr_7^0'=__disjvr_7^post39, temp0_15^0'=temp0_15^post39, temp_35^0'=temp_35^post39, __disjvr_18^0'=__disjvr_18^post39, head_32^0'=head_32^post39, __disjvr_28^0'=__disjvr_28^post39, r_163^0'=r_163^post39, __disjvr_10^0'=__disjvr_10^post39, a_237^0'=a_237^post39, y_19^0'=y_19^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_4^0'=__disjvr_4^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, __disjvr_15^0'=__disjvr_15^post39, head_14^0'=head_14^post39, __disjvr_25^0'=__disjvr_25^post39, length_29^0'=length_29^post39, __disjvr_9^0'=__disjvr_9^post39, a_147^0'=a_147^post39, x_16^0'=x_16^post39, __disjvr_1^0'=__disjvr_1^post39, i_108^0'=i_108^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_58^0'=rcd_58^post39, __disjvr_12^0'=__disjvr_12^post39, ct_17^0'=ct_17^post39, i_94^0'=i_94^post39, __disjvr_6^0'=__disjvr_6^post39, t_23^0'=t_23^post39, temp0_31^0'=temp0_31^post39, __disjvr_17^0'=__disjvr_17^post39, head_27^0'=head_27^post39, __disjvr_27^0'=__disjvr_27^post39, r_124^0'=r_124^post39, (0 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ -head_27^post39+head_27^0 == 0 /\ f_170^0-f_170^post39 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ x_20^0-x_20^post39 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ a_116^0-a_116^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post39 == 0 /\ -head_14^post39+head_14^0 == 0 /\ 1-length_29^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post39-length_29^0 <= 0 /\ tmp_34^post39-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -len_132^post39+len_132^0 == 0 /\ -a_147^post39+a_147^0 == 0 /\ -2+i_30^post39 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ 2-length_29^0 <= 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ -__disjvr_29^post39+__disjvr_29^0 == 0 /\ a_260^0-a_260^post39 == 0 /\ -head_175^post39+head_175^0 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ a_215^0-a_215^post39 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+length_29^0 <= 0 /\ -tmp_34^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ tmp_34^post39-head_32^post39 <= 0 /\ -i_167^post39+i_167^0 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ -__disjvr_10^post39+__disjvr_10^0 == 0 /\ -1-i_30^0+i_30^post39 == 0 /\ -r_124^post39+r_124^0 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ len_183^0-len_183^post39 == 0 /\ y_19^0-y_19^post39 == 0 /\ -head_32^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -x_16^post39+x_16^0 == 0 /\ -a_237^post39+a_237^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ rcd_88^0-rcd_88^post39 == 0 /\ 2-i_30^post39 <= 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ -tmp_34^post39+head_32^post39 <= 0 /\ -tmp_34^post39+head_32^post39 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -__disjvr_11^post39+__disjvr_11^0 == 0 /\ head_32^post39-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ r_39^0-r_39^post39 == 0 /\ r_163^0-r_163^post39 == 0 /\ -ct_17^post39+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post39 == 0 /\ -i_94^post39+i_94^0 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ tmp_34^post39-temp_35^0 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0), cost: 1
  65: l38 -> l63 : __disjvr_0^0'=__disjvr_0^post65, a_215^0'=a_215^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, __disjvr_21^0'=__disjvr_21^post65, __disjvr_3^0'=__disjvr_3^post65, result_11^0'=result_11^post65, __disjvr_14^0'=__disjvr_14^post65, head_129^0'=head_129^post65, __disjvr_24^0'=__disjvr_24^post65, len_183^0'=len_183^post65, __disjvr_8^0'=__disjvr_8^post65, a_116^0'=a_116^post65, tmp_34^0'=tmp_34^post65, __disjvr_19^0'=__disjvr_19^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, __disjvr_29^0'=__disjvr_29^post65, r_39^0'=r_39^post65, __disjvr_11^0'=__disjvr_11^post65, a_260^0'=a_260^post65, i_30^0'=i_30^post65, __disjvr_5^0'=__disjvr_5^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_16^0'=__disjvr_16^post65, head_175^0'=head_175^post65, __disjvr_26^0'=__disjvr_26^post65, nondet_12^0'=nondet_12^post65, a_184^0'=a_184^post65, x_20^0'=x_20^post65, __disjvr_20^0'=__disjvr_20^post65, i_167^0'=i_167^post65, __disjvr_30^0'=__disjvr_30^post65, rcd_88^0'=rcd_88^post65, __disjvr_13^0'=__disjvr_13^post65, f_170^0'=f_170^post65, __disjvr_23^0'=__disjvr_23^post65, len_132^0'=len_132^post65, __disjvr_7^0'=__disjvr_7^post65, temp0_15^0'=temp0_15^post65, temp_35^0'=temp_35^post65, __disjvr_18^0'=__disjvr_18^post65, head_32^0'=head_32^post65, __disjvr_28^0'=__disjvr_28^post65, r_163^0'=r_163^post65, __disjvr_10^0'=__disjvr_10^post65, a_237^0'=a_237^post65, y_19^0'=y_19^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_4^0'=__disjvr_4^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, __disjvr_15^0'=__disjvr_15^post65, head_14^0'=head_14^post65, __disjvr_25^0'=__disjvr_25^post65, length_29^0'=length_29^post65, __disjvr_9^0'=__disjvr_9^post65, a_147^0'=a_147^post65, x_16^0'=x_16^post65, __disjvr_1^0'=__disjvr_1^post65, i_108^0'=i_108^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_58^0'=rcd_58^post65, __disjvr_12^0'=__disjvr_12^post65, ct_17^0'=ct_17^post65, i_94^0'=i_94^post65, __disjvr_6^0'=__disjvr_6^post65, t_23^0'=t_23^post65, temp0_31^0'=temp0_31^post65, __disjvr_17^0'=__disjvr_17^post65, head_27^0'=head_27^post65, __disjvr_27^0'=__disjvr_27^post65, r_124^0'=r_124^post65, (0 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ -head_27^post65+head_14^post65 <= 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ head_175^0-head_175^post65 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -head_27^post65+head_SLAM_f_26^post65 <= 0 /\ -x_16^post65+x_16^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ y_19^0-y_19^post65 == 0 /\ -head_14^post65+head_SLAM_f_26^post65 <= 0 /\ -head_14^post65+head_SLAM_f_26^post65 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ result_11^11-temp0_31^110 == 0 /\ a_147^0-a_147^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ len_132^0-len_132^post65 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ -r_124^post65+r_124^0 == 0 /\ head_27^post65-head_14^post65 <= 0 /\ head_27^post65-head_SLAM_f_26^post65 <= 0 /\ head_27^post65-head_SLAM_f_26^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ -len_132^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ head_14^post65-head_SLAM_f_26^post65 <= 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -f_170^post65+f_170^0 == 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ -r_163^post65+r_163^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ head_14^post65-result_11^11 == 0 /\ -__disjvr_4^post65+__disjvr_4^0 == 0 /\ head_129^0-head_129^post65 == 0 /\ len_132^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post65 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ a_215^0-a_215^post65 == 0 /\ a_116^0-a_116^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -len_183^post65+len_183^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -i_94^post65+i_94^0 == 0 /\ -i_108^post65+i_108^0 == 0 /\ x_20^0-x_20^post65 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -a_237^post65+a_237^0 == 0 /\ i_30^post65-a_147^0 <= 0 /\ a_260^0-a_260^post65 == 0 /\ -i_30^0+length_29^0 <= 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ -i_30^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ -__disjvr_9^post65+__disjvr_9^0 == 0 /\ a_184^0-a_184^post65 == 0 /\ -__disjvr_20^post65+__disjvr_20^0 == 0 /\ __disjvr_5^0-__disjvr_5^post65 == 0 /\ -rcd_58^post65+rcd_58^0 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ -i_30^post65+a_147^0 <= 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ -t_23^post65+t_23^0 == 0), cost: 1
  68: l38 -> l65 : __disjvr_0^0'=__disjvr_0^post68, a_215^0'=a_215^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, __disjvr_21^0'=__disjvr_21^post68, __disjvr_3^0'=__disjvr_3^post68, result_11^0'=result_11^post68, __disjvr_14^0'=__disjvr_14^post68, head_129^0'=head_129^post68, __disjvr_24^0'=__disjvr_24^post68, len_183^0'=len_183^post68, __disjvr_8^0'=__disjvr_8^post68, a_116^0'=a_116^post68, tmp_34^0'=tmp_34^post68, __disjvr_19^0'=__disjvr_19^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, __disjvr_29^0'=__disjvr_29^post68, r_39^0'=r_39^post68, __disjvr_11^0'=__disjvr_11^post68, a_260^0'=a_260^post68, i_30^0'=i_30^post68, __disjvr_5^0'=__disjvr_5^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_16^0'=__disjvr_16^post68, head_175^0'=head_175^post68, __disjvr_26^0'=__disjvr_26^post68, nondet_12^0'=nondet_12^post68, a_184^0'=a_184^post68, x_20^0'=x_20^post68, __disjvr_20^0'=__disjvr_20^post68, i_167^0'=i_167^post68, __disjvr_30^0'=__disjvr_30^post68, rcd_88^0'=rcd_88^post68, __disjvr_13^0'=__disjvr_13^post68, f_170^0'=f_170^post68, __disjvr_23^0'=__disjvr_23^post68, len_132^0'=len_132^post68, __disjvr_7^0'=__disjvr_7^post68, temp0_15^0'=temp0_15^post68, temp_35^0'=temp_35^post68, __disjvr_18^0'=__disjvr_18^post68, head_32^0'=head_32^post68, __disjvr_28^0'=__disjvr_28^post68, r_163^0'=r_163^post68, __disjvr_10^0'=__disjvr_10^post68, a_237^0'=a_237^post68, y_19^0'=y_19^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_4^0'=__disjvr_4^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, __disjvr_15^0'=__disjvr_15^post68, head_14^0'=head_14^post68, __disjvr_25^0'=__disjvr_25^post68, length_29^0'=length_29^post68, __disjvr_9^0'=__disjvr_9^post68, a_147^0'=a_147^post68, x_16^0'=x_16^post68, __disjvr_1^0'=__disjvr_1^post68, i_108^0'=i_108^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_58^0'=rcd_58^post68, __disjvr_12^0'=__disjvr_12^post68, ct_17^0'=ct_17^post68, i_94^0'=i_94^post68, __disjvr_6^0'=__disjvr_6^post68, t_23^0'=t_23^post68, temp0_31^0'=temp0_31^post68, __disjvr_17^0'=__disjvr_17^post68, head_27^0'=head_27^post68, __disjvr_27^0'=__disjvr_27^post68, r_124^0'=r_124^post68, (0 == 0 /\ a_184^0-a_184^post68 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ -x_20^post68+x_20^0 == 0 /\ -x_16^post68+x_16^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ a_215^0-a_215^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ 1+i_94^post68-i_30^post68 <= 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ -a_237^post68+a_237^0 == 0 /\ -tmp_34^post68+head_32^post68 == 0 /\ len_132^0-len_132^post68 == 0 /\ head_175^0-head_175^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ -__disjvr_9^post68+__disjvr_9^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ tmp_34^post68-temp_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ a_260^0-a_260^post68 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ -t_23^post68+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ -f_170^post68+f_170^0 == 0 /\ -a_147^post68+a_147^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post68+a_116^0 == 0 /\ -head_27^post68+head_27^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -head_14^post68+head_14^0 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -1-i_30^0+i_30^post68 == 0 /\ r_39^0-r_39^post68 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -1-i_94^post68+i_30^post68 <= 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ 1-length_29^0+i_94^post68 <= 0 /\ -r_163^post68+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ y_19^0-y_19^post68 == 0 /\ -i_30^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ head_129^0-head_129^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ -__disjvr_19^post68+__disjvr_19^0 == 0 /\ __disjvr_30^0-__disjvr_30^post68 == 0 /\ -__disjvr_29^post68+__disjvr_29^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -__disjvr_4^post68+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ __disjvr_27^0-__disjvr_27^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ len_183^0-len_183^post68 == 0 /\ -i_167^post68+i_167^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0), cost: 1
  40: l39 -> l40 : __disjvr_0^0'=__disjvr_0^post40, a_215^0'=a_215^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, __disjvr_21^0'=__disjvr_21^post40, __disjvr_3^0'=__disjvr_3^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, head_129^0'=head_129^post40, __disjvr_24^0'=__disjvr_24^post40, len_183^0'=len_183^post40, __disjvr_8^0'=__disjvr_8^post40, a_116^0'=a_116^post40, tmp_34^0'=tmp_34^post40, __disjvr_19^0'=__disjvr_19^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, __disjvr_29^0'=__disjvr_29^post40, r_39^0'=r_39^post40, __disjvr_11^0'=__disjvr_11^post40, a_260^0'=a_260^post40, i_30^0'=i_30^post40, __disjvr_5^0'=__disjvr_5^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_16^0'=__disjvr_16^post40, head_175^0'=head_175^post40, __disjvr_26^0'=__disjvr_26^post40, nondet_12^0'=nondet_12^post40, a_184^0'=a_184^post40, x_20^0'=x_20^post40, __disjvr_20^0'=__disjvr_20^post40, i_167^0'=i_167^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_88^0'=rcd_88^post40, __disjvr_13^0'=__disjvr_13^post40, f_170^0'=f_170^post40, __disjvr_23^0'=__disjvr_23^post40, len_132^0'=len_132^post40, __disjvr_7^0'=__disjvr_7^post40, temp0_15^0'=temp0_15^post40, temp_35^0'=temp_35^post40, __disjvr_18^0'=__disjvr_18^post40, head_32^0'=head_32^post40, __disjvr_28^0'=__disjvr_28^post40, r_163^0'=r_163^post40, __disjvr_10^0'=__disjvr_10^post40, a_237^0'=a_237^post40, y_19^0'=y_19^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_4^0'=__disjvr_4^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, __disjvr_15^0'=__disjvr_15^post40, head_14^0'=head_14^post40, __disjvr_25^0'=__disjvr_25^post40, length_29^0'=length_29^post40, __disjvr_9^0'=__disjvr_9^post40, a_147^0'=a_147^post40, x_16^0'=x_16^post40, __disjvr_1^0'=__disjvr_1^post40, i_108^0'=i_108^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_58^0'=rcd_58^post40, __disjvr_12^0'=__disjvr_12^post40, ct_17^0'=ct_17^post40, i_94^0'=i_94^post40, __disjvr_6^0'=__disjvr_6^post40, t_23^0'=t_23^post40, temp0_31^0'=temp0_31^post40, __disjvr_17^0'=__disjvr_17^post40, head_27^0'=head_27^post40, __disjvr_27^0'=__disjvr_27^post40, r_124^0'=r_124^post40, (0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -__disjvr_6^post40+__disjvr_6^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ -y_19^post40+y_19^0 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_29^post40 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_29^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ -head_32^post40 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_129^0-head_129^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ rcd_88^0-rcd_88^post40 == 0 /\ -__disjvr_9^post40+__disjvr_9^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ -f_170^post40+f_170^0 == 0 /\ -a_147^post40+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ -ct_17^post40+ct_17^0 == 0 /\ a_215^0-a_215^post40 == 0 /\ a_184^0-a_184^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -__disjvr_4^post40+__disjvr_4^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_29^post40 <= 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ len_183^0-len_183^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -x_20^post40+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -r_163^post40+r_163^0 == 0 /\ __disjvr_30^0-__disjvr_30^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ -r_124^post40+r_124^0 == 0 /\ a_237^0-a_237^post40 == 0 /\ -__disjvr_25^post40+__disjvr_25^0 == 0 /\ -i_94^post40+i_94^0 == 0 /\ head_14^0-head_14^post40 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -a_260^post40+a_260^0 == 0 /\ head_32^post40 <= 0 /\ head_32^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-nondet_12^10 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ i_30^post40 <= 0 /\ i_30^post40 == 0 /\ -head_27^post40+head_27^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ i_167^0-i_167^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ a_116^0-a_116^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -i_30^post40 <= 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ head_175^0-head_175^post40 == 0), cost: 1
  71: l40 -> l25 : __disjvr_0^0'=__disjvr_0^post71, a_215^0'=a_215^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, __disjvr_21^0'=__disjvr_21^post71, __disjvr_3^0'=__disjvr_3^post71, result_11^0'=result_11^post71, __disjvr_14^0'=__disjvr_14^post71, head_129^0'=head_129^post71, __disjvr_24^0'=__disjvr_24^post71, len_183^0'=len_183^post71, __disjvr_8^0'=__disjvr_8^post71, a_116^0'=a_116^post71, tmp_34^0'=tmp_34^post71, __disjvr_19^0'=__disjvr_19^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, __disjvr_29^0'=__disjvr_29^post71, r_39^0'=r_39^post71, __disjvr_11^0'=__disjvr_11^post71, a_260^0'=a_260^post71, i_30^0'=i_30^post71, __disjvr_5^0'=__disjvr_5^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_16^0'=__disjvr_16^post71, head_175^0'=head_175^post71, __disjvr_26^0'=__disjvr_26^post71, nondet_12^0'=nondet_12^post71, a_184^0'=a_184^post71, x_20^0'=x_20^post71, __disjvr_20^0'=__disjvr_20^post71, i_167^0'=i_167^post71, __disjvr_30^0'=__disjvr_30^post71, rcd_88^0'=rcd_88^post71, __disjvr_13^0'=__disjvr_13^post71, f_170^0'=f_170^post71, __disjvr_23^0'=__disjvr_23^post71, len_132^0'=len_132^post71, __disjvr_7^0'=__disjvr_7^post71, temp0_15^0'=temp0_15^post71, temp_35^0'=temp_35^post71, __disjvr_18^0'=__disjvr_18^post71, head_32^0'=head_32^post71, __disjvr_28^0'=__disjvr_28^post71, r_163^0'=r_163^post71, __disjvr_10^0'=__disjvr_10^post71, a_237^0'=a_237^post71, y_19^0'=y_19^post71, __disjvr_22^0'=__disjvr_22^post71, __disjvr_4^0'=__disjvr_4^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, __disjvr_15^0'=__disjvr_15^post71, head_14^0'=head_14^post71, __disjvr_25^0'=__disjvr_25^post71, length_29^0'=length_29^post71, __disjvr_9^0'=__disjvr_9^post71, a_147^0'=a_147^post71, x_16^0'=x_16^post71, __disjvr_1^0'=__disjvr_1^post71, i_108^0'=i_108^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_58^0'=rcd_58^post71, __disjvr_12^0'=__disjvr_12^post71, ct_17^0'=ct_17^post71, i_94^0'=i_94^post71, __disjvr_6^0'=__disjvr_6^post71, t_23^0'=t_23^post71, temp0_31^0'=temp0_31^post71, __disjvr_17^0'=__disjvr_17^post71, head_27^0'=head_27^post71, __disjvr_27^0'=__disjvr_27^post71, r_124^0'=r_124^post71, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post71 == 0 /\ a_215^0-a_215^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ a_116^0-a_116^post71 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71-head_32^post71 <= 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -len_132^post71+len_132^0 == 0 /\ -__disjvr_20^post71+__disjvr_20^0 == 0 /\ -r_124^post71+r_124^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post71 == 0 /\ i_167^0-i_167^post71 == 0 /\ __disjvr_30^0-__disjvr_30^post71 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ -head_175^post71+head_175^0 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ a_260^0-a_260^post71 == 0 /\ -a_184^post71+a_184^0 == 0 /\ __disjvr_7^0-__disjvr_7^post71 == 0 /\ r_163^0-r_163^post71 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+head_32^post71 <= 0 /\ -temp_35^0+tmp_34^post71 == 0 /\ __disjvr_19^0-__disjvr_19^post71 == 0 /\ head_129^0-head_129^post71 == 0 /\ x_16^0-x_16^post71 == 0 /\ -y_19^post71+y_19^0 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ -1-i_30^0+i_30^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71-tmp_34^post71 <= 0 /\ -temp0_15^post71+temp0_15^0 == 0 /\ __disjvr_28^0-__disjvr_28^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -__disjvr_13^post71+__disjvr_13^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+length_29^0 <= 0 /\ -temp0_31^post71+temp0_31^0 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ f_170^0-f_170^post71 == 0 /\ -rcd_88^post71+rcd_88^0 == 0 /\ x_20^0-x_20^post71 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ -__disjvr_18^post71+__disjvr_18^0 == 0 /\ -i_108^post71+i_108^0 == 0 /\ 1-i_30^post71 <= 0 /\ -1+i_30^post71 <= 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ head_32^post71-tmp_34^post71 <= 0 /\ head_32^post71-tmp_34^post71 == 0 /\ -ct_17^post71+ct_17^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+tmp_34^post71 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post71-length_29^0 <= 0 /\ length_29^0-length_29^post71 == 0 /\ -a_147^post71+a_147^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ head_14^0-head_14^post71 == 0 /\ len_183^0-len_183^post71 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ -__disjvr_9^post71+__disjvr_9^0 == 0 /\ a_237^0-a_237^post71 == 0 /\ -__disjvr_22^post71+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -head_32^post71+tmp_34^post71 <= 0), cost: 1
  41: l41 -> l42 : __disjvr_0^0'=__disjvr_0^post41, a_215^0'=a_215^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, __disjvr_21^0'=__disjvr_21^post41, __disjvr_3^0'=__disjvr_3^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, head_129^0'=head_129^post41, __disjvr_24^0'=__disjvr_24^post41, len_183^0'=len_183^post41, __disjvr_8^0'=__disjvr_8^post41, a_116^0'=a_116^post41, tmp_34^0'=tmp_34^post41, __disjvr_19^0'=__disjvr_19^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, __disjvr_29^0'=__disjvr_29^post41, r_39^0'=r_39^post41, __disjvr_11^0'=__disjvr_11^post41, a_260^0'=a_260^post41, i_30^0'=i_30^post41, __disjvr_5^0'=__disjvr_5^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_16^0'=__disjvr_16^post41, head_175^0'=head_175^post41, __disjvr_26^0'=__disjvr_26^post41, nondet_12^0'=nondet_12^post41, a_184^0'=a_184^post41, x_20^0'=x_20^post41, __disjvr_20^0'=__disjvr_20^post41, i_167^0'=i_167^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_88^0'=rcd_88^post41, __disjvr_13^0'=__disjvr_13^post41, f_170^0'=f_170^post41, __disjvr_23^0'=__disjvr_23^post41, len_132^0'=len_132^post41, __disjvr_7^0'=__disjvr_7^post41, temp0_15^0'=temp0_15^post41, temp_35^0'=temp_35^post41, __disjvr_18^0'=__disjvr_18^post41, head_32^0'=head_32^post41, __disjvr_28^0'=__disjvr_28^post41, r_163^0'=r_163^post41, __disjvr_10^0'=__disjvr_10^post41, a_237^0'=a_237^post41, y_19^0'=y_19^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_4^0'=__disjvr_4^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, __disjvr_15^0'=__disjvr_15^post41, head_14^0'=head_14^post41, __disjvr_25^0'=__disjvr_25^post41, length_29^0'=length_29^post41, __disjvr_9^0'=__disjvr_9^post41, a_147^0'=a_147^post41, x_16^0'=x_16^post41, __disjvr_1^0'=__disjvr_1^post41, i_108^0'=i_108^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_58^0'=rcd_58^post41, __disjvr_12^0'=__disjvr_12^post41, ct_17^0'=ct_17^post41, i_94^0'=i_94^post41, __disjvr_6^0'=__disjvr_6^post41, t_23^0'=t_23^post41, temp0_31^0'=temp0_31^post41, __disjvr_17^0'=__disjvr_17^post41, head_27^0'=head_27^post41, __disjvr_27^0'=__disjvr_27^post41, r_124^0'=r_124^post41, (0 == 0 /\ a_215^0-a_215^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -head_175^post41+head_175^0 == 0 /\ -head_14^post41+head_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ x_SLAM_f_18^post41-x_20^post41 <= 0 /\ -t_23^post41+t_23^0 == 0 /\ -rcd_58^post41+rcd_58^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -ct_17^post41 <= 0 /\ -i_94^post41+i_94^0 == 0 /\ ct_17^post41 <= 0 /\ ct_17^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ r_163^0-r_163^post41 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -len_132^0 <= 0 /\ -a_184^post41+a_184^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -x_SLAM_f_18^post41+x_20^post41 <= 0 /\ -x_SLAM_f_18^post41+x_20^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ f_170^0-f_170^post41 == 0 /\ -length_29^post41+length_29^0 == 0 /\ head_129^0-head_129^post41 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ a_116^0-a_116^post41 == 0 /\ i_108^0-i_108^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ a_260^0-a_260^post41 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ -y_19^post41 <= 0 /\ result_11^0-result_11^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ x_16^post41-x_SLAM_f_18^post41 <= 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -x_SLAM_f_18^post41+head_14^0 <= 0 /\ -temp0_15^post41+temp0_15^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ -x_16^post41+head_14^0 <= 0 /\ -head_27^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ head_14^0-x_20^post41 <= 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ r_39^0-r_39^post41 == 0 /\ -ct_17^post41+y_19^post41 <= 0 /\ -ct_17^post41+y_19^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -a_237^post41+a_237^0 == 0 /\ __disjvr_30^0-__disjvr_30^post41 == 0 /\ -a_147^0 <= 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -a_147^post41+a_147^0 == 0 /\ -r_124^post41+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -x_16^post41+x_SLAM_f_18^post41 <= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ y_19^post41 <= 0 /\ -__disjvr_22^post41+__disjvr_22^0 == 0 /\ x_SLAM_f_18^post41-head_14^0 <= 0 /\ head_32^0-head_32^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ x_16^post41-head_14^0 <= 0 /\ x_16^post41-head_14^0 == 0 /\ len_183^0-len_183^post41 == 0 /\ -len_132^post41+len_132^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ -head_14^0+x_20^post41 <= 0 /\ ct_17^post41-y_19^post41 <= 0), cost: 1
  44: l41 -> l45 : __disjvr_0^0'=__disjvr_0^post44, a_215^0'=a_215^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, __disjvr_21^0'=__disjvr_21^post44, __disjvr_3^0'=__disjvr_3^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, head_129^0'=head_129^post44, __disjvr_24^0'=__disjvr_24^post44, len_183^0'=len_183^post44, __disjvr_8^0'=__disjvr_8^post44, a_116^0'=a_116^post44, tmp_34^0'=tmp_34^post44, __disjvr_19^0'=__disjvr_19^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, __disjvr_29^0'=__disjvr_29^post44, r_39^0'=r_39^post44, __disjvr_11^0'=__disjvr_11^post44, a_260^0'=a_260^post44, i_30^0'=i_30^post44, __disjvr_5^0'=__disjvr_5^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_16^0'=__disjvr_16^post44, head_175^0'=head_175^post44, __disjvr_26^0'=__disjvr_26^post44, nondet_12^0'=nondet_12^post44, a_184^0'=a_184^post44, x_20^0'=x_20^post44, __disjvr_20^0'=__disjvr_20^post44, i_167^0'=i_167^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_88^0'=rcd_88^post44, __disjvr_13^0'=__disjvr_13^post44, f_170^0'=f_170^post44, __disjvr_23^0'=__disjvr_23^post44, len_132^0'=len_132^post44, __disjvr_7^0'=__disjvr_7^post44, temp0_15^0'=temp0_15^post44, temp_35^0'=temp_35^post44, __disjvr_18^0'=__disjvr_18^post44, head_32^0'=head_32^post44, __disjvr_28^0'=__disjvr_28^post44, r_163^0'=r_163^post44, __disjvr_10^0'=__disjvr_10^post44, a_237^0'=a_237^post44, y_19^0'=y_19^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_4^0'=__disjvr_4^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, __disjvr_15^0'=__disjvr_15^post44, head_14^0'=head_14^post44, __disjvr_25^0'=__disjvr_25^post44, length_29^0'=length_29^post44, __disjvr_9^0'=__disjvr_9^post44, a_147^0'=a_147^post44, x_16^0'=x_16^post44, __disjvr_1^0'=__disjvr_1^post44, i_108^0'=i_108^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_58^0'=rcd_58^post44, __disjvr_12^0'=__disjvr_12^post44, ct_17^0'=ct_17^post44, i_94^0'=i_94^post44, __disjvr_6^0'=__disjvr_6^post44, t_23^0'=t_23^post44, temp0_31^0'=temp0_31^post44, __disjvr_17^0'=__disjvr_17^post44, head_27^0'=head_27^post44, __disjvr_27^0'=__disjvr_27^post44, r_124^0'=r_124^post44, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ len_183^0-len_183^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ temp0_15^0-temp0_15^post44 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ -i_167^post44+i_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -i_108^post44+i_108^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ -x_16^post44+x_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ a_116^0-a_116^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -len_132^0 <= 0 /\ x_20^0-x_20^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_237^post44+a_237^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ i_30^0-i_30^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ -rcd_88^post44+rcd_88^0 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ -t_23^post44+t_23^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ i_94^0-i_94^post44 == 0 /\ -length_29^post44+length_29^0 == 0 /\ -r_163^post44+r_163^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -r_124^post44+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ -len_132^post44+len_132^0 == 0 /\ head_129^0-head_129^post44 == 0 /\ -a_147^post44+a_147^0 == 0 /\ a_184^0-a_184^post44 == 0 /\ a_260^0-a_260^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -rcd_58^post44+rcd_58^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ -head_27^post44+head_27^0 == 0 /\ a_215^0-a_215^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -a_147^0 <= 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ -__disjvr_30^post44+__disjvr_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ __disjvr_7^0-__disjvr_7^post44 == 0 /\ tmp_34^0-tmp_34^post44 == 0), cost: 1
  42: l42 -> l43 : __disjvr_0^0'=__disjvr_0^post42, a_215^0'=a_215^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, __disjvr_21^0'=__disjvr_21^post42, __disjvr_3^0'=__disjvr_3^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, head_129^0'=head_129^post42, __disjvr_24^0'=__disjvr_24^post42, len_183^0'=len_183^post42, __disjvr_8^0'=__disjvr_8^post42, a_116^0'=a_116^post42, tmp_34^0'=tmp_34^post42, __disjvr_19^0'=__disjvr_19^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, __disjvr_29^0'=__disjvr_29^post42, r_39^0'=r_39^post42, __disjvr_11^0'=__disjvr_11^post42, a_260^0'=a_260^post42, i_30^0'=i_30^post42, __disjvr_5^0'=__disjvr_5^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_16^0'=__disjvr_16^post42, head_175^0'=head_175^post42, __disjvr_26^0'=__disjvr_26^post42, nondet_12^0'=nondet_12^post42, a_184^0'=a_184^post42, x_20^0'=x_20^post42, __disjvr_20^0'=__disjvr_20^post42, i_167^0'=i_167^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_88^0'=rcd_88^post42, __disjvr_13^0'=__disjvr_13^post42, f_170^0'=f_170^post42, __disjvr_23^0'=__disjvr_23^post42, len_132^0'=len_132^post42, __disjvr_7^0'=__disjvr_7^post42, temp0_15^0'=temp0_15^post42, temp_35^0'=temp_35^post42, __disjvr_18^0'=__disjvr_18^post42, head_32^0'=head_32^post42, __disjvr_28^0'=__disjvr_28^post42, r_163^0'=r_163^post42, __disjvr_10^0'=__disjvr_10^post42, a_237^0'=a_237^post42, y_19^0'=y_19^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_4^0'=__disjvr_4^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, __disjvr_15^0'=__disjvr_15^post42, head_14^0'=head_14^post42, __disjvr_25^0'=__disjvr_25^post42, length_29^0'=length_29^post42, __disjvr_9^0'=__disjvr_9^post42, a_147^0'=a_147^post42, x_16^0'=x_16^post42, __disjvr_1^0'=__disjvr_1^post42, i_108^0'=i_108^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_58^0'=rcd_58^post42, __disjvr_12^0'=__disjvr_12^post42, ct_17^0'=ct_17^post42, i_94^0'=i_94^post42, __disjvr_6^0'=__disjvr_6^post42, t_23^0'=t_23^post42, temp0_31^0'=temp0_31^post42, __disjvr_17^0'=__disjvr_17^post42, head_27^0'=head_27^post42, __disjvr_27^0'=__disjvr_27^post42, r_124^0'=r_124^post42, (__disjvr_1^0-__disjvr_1^post42 == 0 /\ -__disjvr_26^post42+__disjvr_26^0 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ a_116^0-a_116^post42 == 0 /\ -f_170^post42+f_170^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -head_27^post42+head_27^0 == 0 /\ -i_30^post42+i_30^0 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ a_260^0-a_260^post42 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ -r_124^post42+r_124^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -a_147^post42+a_147^0 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ len_132^0-len_132^post42 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ -head_14^post42+head_14^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ len_183^0-len_183^post42 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ rcd_88^0-rcd_88^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ a_237^0-a_237^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ a_184^0-a_184^post42 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ a_215^0-a_215^post42 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ -y_19^post42+y_19^0 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ __disjvr_20^post42-__disjvr_20^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ head_175^0-head_175^post42 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ r_39^0-r_39^post42 == 0 /\ i_167^0-i_167^post42 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0), cost: 1
  43: l43 -> l18 : __disjvr_0^0'=__disjvr_0^post43, a_215^0'=a_215^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, __disjvr_21^0'=__disjvr_21^post43, __disjvr_3^0'=__disjvr_3^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, head_129^0'=head_129^post43, __disjvr_24^0'=__disjvr_24^post43, len_183^0'=len_183^post43, __disjvr_8^0'=__disjvr_8^post43, a_116^0'=a_116^post43, tmp_34^0'=tmp_34^post43, __disjvr_19^0'=__disjvr_19^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, __disjvr_29^0'=__disjvr_29^post43, r_39^0'=r_39^post43, __disjvr_11^0'=__disjvr_11^post43, a_260^0'=a_260^post43, i_30^0'=i_30^post43, __disjvr_5^0'=__disjvr_5^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_16^0'=__disjvr_16^post43, head_175^0'=head_175^post43, __disjvr_26^0'=__disjvr_26^post43, nondet_12^0'=nondet_12^post43, a_184^0'=a_184^post43, x_20^0'=x_20^post43, __disjvr_20^0'=__disjvr_20^post43, i_167^0'=i_167^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_88^0'=rcd_88^post43, __disjvr_13^0'=__disjvr_13^post43, f_170^0'=f_170^post43, __disjvr_23^0'=__disjvr_23^post43, len_132^0'=len_132^post43, __disjvr_7^0'=__disjvr_7^post43, temp0_15^0'=temp0_15^post43, temp_35^0'=temp_35^post43, __disjvr_18^0'=__disjvr_18^post43, head_32^0'=head_32^post43, __disjvr_28^0'=__disjvr_28^post43, r_163^0'=r_163^post43, __disjvr_10^0'=__disjvr_10^post43, a_237^0'=a_237^post43, y_19^0'=y_19^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_4^0'=__disjvr_4^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, __disjvr_15^0'=__disjvr_15^post43, head_14^0'=head_14^post43, __disjvr_25^0'=__disjvr_25^post43, length_29^0'=length_29^post43, __disjvr_9^0'=__disjvr_9^post43, a_147^0'=a_147^post43, x_16^0'=x_16^post43, __disjvr_1^0'=__disjvr_1^post43, i_108^0'=i_108^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_58^0'=rcd_58^post43, __disjvr_12^0'=__disjvr_12^post43, ct_17^0'=ct_17^post43, i_94^0'=i_94^post43, __disjvr_6^0'=__disjvr_6^post43, t_23^0'=t_23^post43, temp0_31^0'=temp0_31^post43, __disjvr_17^0'=__disjvr_17^post43, head_27^0'=head_27^post43, __disjvr_27^0'=__disjvr_27^post43, r_124^0'=r_124^post43, (-a_260^post43+a_260^0 == 0 /\ -i_94^post43+i_94^0 == 0 /\ a_215^0-a_215^post43 == 0 /\ -head_14^post43+head_14^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -len_132^post43+len_132^0 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -a_147^post43+a_147^0 == 0 /\ __disjvr_30^0-__disjvr_30^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -r_124^post43+r_124^0 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post43 == 0 /\ -head_175^post43+head_175^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ -x_16^post43+x_16^0 == 0 /\ len_183^0-len_183^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ r_163^0-r_163^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ head_32^0-head_32^post43 == 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ head_129^0-head_129^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ a_184^0-a_184^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ __disjvr_28^0-__disjvr_28^post43 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ f_170^0-f_170^post43 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ i_167^0-i_167^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ -temp0_15^post43+temp0_15^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_39^post43+r_39^0 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ -head_27^post43+head_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -a_237^post43+a_237^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ -__disjvr_9^post43+__disjvr_9^0 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0), cost: 1
  45: l45 -> l46 : __disjvr_0^0'=__disjvr_0^post45, a_215^0'=a_215^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, __disjvr_21^0'=__disjvr_21^post45, __disjvr_3^0'=__disjvr_3^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, head_129^0'=head_129^post45, __disjvr_24^0'=__disjvr_24^post45, len_183^0'=len_183^post45, __disjvr_8^0'=__disjvr_8^post45, a_116^0'=a_116^post45, tmp_34^0'=tmp_34^post45, __disjvr_19^0'=__disjvr_19^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, __disjvr_29^0'=__disjvr_29^post45, r_39^0'=r_39^post45, __disjvr_11^0'=__disjvr_11^post45, a_260^0'=a_260^post45, i_30^0'=i_30^post45, __disjvr_5^0'=__disjvr_5^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_16^0'=__disjvr_16^post45, head_175^0'=head_175^post45, __disjvr_26^0'=__disjvr_26^post45, nondet_12^0'=nondet_12^post45, a_184^0'=a_184^post45, x_20^0'=x_20^post45, __disjvr_20^0'=__disjvr_20^post45, i_167^0'=i_167^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_88^0'=rcd_88^post45, __disjvr_13^0'=__disjvr_13^post45, f_170^0'=f_170^post45, __disjvr_23^0'=__disjvr_23^post45, len_132^0'=len_132^post45, __disjvr_7^0'=__disjvr_7^post45, temp0_15^0'=temp0_15^post45, temp_35^0'=temp_35^post45, __disjvr_18^0'=__disjvr_18^post45, head_32^0'=head_32^post45, __disjvr_28^0'=__disjvr_28^post45, r_163^0'=r_163^post45, __disjvr_10^0'=__disjvr_10^post45, a_237^0'=a_237^post45, y_19^0'=y_19^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_4^0'=__disjvr_4^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, __disjvr_15^0'=__disjvr_15^post45, head_14^0'=head_14^post45, __disjvr_25^0'=__disjvr_25^post45, length_29^0'=length_29^post45, __disjvr_9^0'=__disjvr_9^post45, a_147^0'=a_147^post45, x_16^0'=x_16^post45, __disjvr_1^0'=__disjvr_1^post45, i_108^0'=i_108^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_58^0'=rcd_58^post45, __disjvr_12^0'=__disjvr_12^post45, ct_17^0'=ct_17^post45, i_94^0'=i_94^post45, __disjvr_6^0'=__disjvr_6^post45, t_23^0'=t_23^post45, temp0_31^0'=temp0_31^post45, __disjvr_17^0'=__disjvr_17^post45, head_27^0'=head_27^post45, __disjvr_27^0'=__disjvr_27^post45, r_124^0'=r_124^post45, (__disjvr_21^0-__disjvr_21^post45 == 0 /\ -__disjvr_20^post45+__disjvr_20^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ x_16^0-x_16^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -head_14^post45+head_14^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -rcd_58^post45+rcd_58^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -a_147^post45+a_147^0 == 0 /\ -i_94^post45+i_94^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -__disjvr_21^0+__disjvr_21^post45 == 0 /\ -head_27^post45+head_27^0 == 0 /\ -f_170^post45+f_170^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -y_19^post45+y_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ -r_163^post45+r_163^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ a_184^0-a_184^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ -a_260^post45+a_260^0 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ a_215^0-a_215^post45 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ i_30^0-i_30^post45 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ head_175^0-head_175^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ len_132^0-len_132^post45 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post45 == 0 /\ __disjvr_30^0-__disjvr_30^post45 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ len_183^0-len_183^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -r_124^post45+r_124^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ head_129^0-head_129^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ a_237^0-a_237^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ -temp0_15^post45+temp0_15^0 == 0), cost: 1
  46: l46 -> l47 : __disjvr_0^0'=__disjvr_0^post46, a_215^0'=a_215^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, __disjvr_21^0'=__disjvr_21^post46, __disjvr_3^0'=__disjvr_3^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, head_129^0'=head_129^post46, __disjvr_24^0'=__disjvr_24^post46, len_183^0'=len_183^post46, __disjvr_8^0'=__disjvr_8^post46, a_116^0'=a_116^post46, tmp_34^0'=tmp_34^post46, __disjvr_19^0'=__disjvr_19^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, __disjvr_29^0'=__disjvr_29^post46, r_39^0'=r_39^post46, __disjvr_11^0'=__disjvr_11^post46, a_260^0'=a_260^post46, i_30^0'=i_30^post46, __disjvr_5^0'=__disjvr_5^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_16^0'=__disjvr_16^post46, head_175^0'=head_175^post46, __disjvr_26^0'=__disjvr_26^post46, nondet_12^0'=nondet_12^post46, a_184^0'=a_184^post46, x_20^0'=x_20^post46, __disjvr_20^0'=__disjvr_20^post46, i_167^0'=i_167^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_88^0'=rcd_88^post46, __disjvr_13^0'=__disjvr_13^post46, f_170^0'=f_170^post46, __disjvr_23^0'=__disjvr_23^post46, len_132^0'=len_132^post46, __disjvr_7^0'=__disjvr_7^post46, temp0_15^0'=temp0_15^post46, temp_35^0'=temp_35^post46, __disjvr_18^0'=__disjvr_18^post46, head_32^0'=head_32^post46, __disjvr_28^0'=__disjvr_28^post46, r_163^0'=r_163^post46, __disjvr_10^0'=__disjvr_10^post46, a_237^0'=a_237^post46, y_19^0'=y_19^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_4^0'=__disjvr_4^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, __disjvr_15^0'=__disjvr_15^post46, head_14^0'=head_14^post46, __disjvr_25^0'=__disjvr_25^post46, length_29^0'=length_29^post46, __disjvr_9^0'=__disjvr_9^post46, a_147^0'=a_147^post46, x_16^0'=x_16^post46, __disjvr_1^0'=__disjvr_1^post46, i_108^0'=i_108^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_58^0'=rcd_58^post46, __disjvr_12^0'=__disjvr_12^post46, ct_17^0'=ct_17^post46, i_94^0'=i_94^post46, __disjvr_6^0'=__disjvr_6^post46, t_23^0'=t_23^post46, temp0_31^0'=temp0_31^post46, __disjvr_17^0'=__disjvr_17^post46, head_27^0'=head_27^post46, __disjvr_27^0'=__disjvr_27^post46, r_124^0'=r_124^post46, (0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post46 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp_35^0-temp_35^post46 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ -a_237^post46+a_237^0 == 0 /\ r_163^0-r_163^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ head_129^0-head_129^post46 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ -i_108^post46+i_108^0 == 0 /\ a_215^0-a_215^post46 == 0 /\ -1-a_184^post46+a_147^0 <= 0 /\ f_170^0-f_170^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ result_11^0-result_11^post46 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ i_30^0-i_30^post46 == 0 /\ -a_147^post46+a_147^0 == 0 /\ -r_124^post46+r_124^0 == 0 /\ 1-len_183^post46+len_132^0 <= 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_9^post46+__disjvr_9^0 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ i_167^0-i_167^post46 == 0 /\ a_260^0-a_260^post46 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ __disjvr_7^0-__disjvr_7^post46 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ r_39^0-r_39^post46 == 0 /\ -t_23^post46+t_23^0 == 0 /\ -__disjvr_21^post46+__disjvr_21^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ head_14^0-head_14^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -len_132^post46+len_132^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -head_32^post46+head_32^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ -head_SLAM_f_26^post46+head_SLAM_f_26^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_116^0-a_116^post46 == 0 /\ 1+a_184^post46-a_147^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -x_16^post46+x_16^0 == 0 /\ -head_175^post46+head_175^0 == 0 /\ x_20^0-x_20^post46 == 0 /\ -__disjvr_15^post46+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+len_183^post46-len_132^0 <= 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ -head_27^post46+head_27^0 == 0 /\ f_170^0-head_27^0 <= 0 /\ -y_19^post46+y_19^0 == 0 /\ -__disjvr_30^post46+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post46 == 0), cost: 1
  47: l47 -> l48 : __disjvr_0^0'=__disjvr_0^post47, a_215^0'=a_215^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, __disjvr_21^0'=__disjvr_21^post47, __disjvr_3^0'=__disjvr_3^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, head_129^0'=head_129^post47, __disjvr_24^0'=__disjvr_24^post47, len_183^0'=len_183^post47, __disjvr_8^0'=__disjvr_8^post47, a_116^0'=a_116^post47, tmp_34^0'=tmp_34^post47, __disjvr_19^0'=__disjvr_19^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, __disjvr_29^0'=__disjvr_29^post47, r_39^0'=r_39^post47, __disjvr_11^0'=__disjvr_11^post47, a_260^0'=a_260^post47, i_30^0'=i_30^post47, __disjvr_5^0'=__disjvr_5^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_16^0'=__disjvr_16^post47, head_175^0'=head_175^post47, __disjvr_26^0'=__disjvr_26^post47, nondet_12^0'=nondet_12^post47, a_184^0'=a_184^post47, x_20^0'=x_20^post47, __disjvr_20^0'=__disjvr_20^post47, i_167^0'=i_167^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_88^0'=rcd_88^post47, __disjvr_13^0'=__disjvr_13^post47, f_170^0'=f_170^post47, __disjvr_23^0'=__disjvr_23^post47, len_132^0'=len_132^post47, __disjvr_7^0'=__disjvr_7^post47, temp0_15^0'=temp0_15^post47, temp_35^0'=temp_35^post47, __disjvr_18^0'=__disjvr_18^post47, head_32^0'=head_32^post47, __disjvr_28^0'=__disjvr_28^post47, r_163^0'=r_163^post47, __disjvr_10^0'=__disjvr_10^post47, a_237^0'=a_237^post47, y_19^0'=y_19^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_4^0'=__disjvr_4^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, __disjvr_15^0'=__disjvr_15^post47, head_14^0'=head_14^post47, __disjvr_25^0'=__disjvr_25^post47, length_29^0'=length_29^post47, __disjvr_9^0'=__disjvr_9^post47, a_147^0'=a_147^post47, x_16^0'=x_16^post47, __disjvr_1^0'=__disjvr_1^post47, i_108^0'=i_108^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_58^0'=rcd_58^post47, __disjvr_12^0'=__disjvr_12^post47, ct_17^0'=ct_17^post47, i_94^0'=i_94^post47, __disjvr_6^0'=__disjvr_6^post47, t_23^0'=t_23^post47, temp0_31^0'=temp0_31^post47, __disjvr_17^0'=__disjvr_17^post47, head_27^0'=head_27^post47, __disjvr_27^0'=__disjvr_27^post47, r_124^0'=r_124^post47, (head_129^0-head_129^post47 == 0 /\ -head_14^post47+head_14^0 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ a_116^0-a_116^post47 == 0 /\ -length_29^post47+length_29^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -a_147^post47+a_147^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -rcd_58^post47+rcd_58^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ -i_94^post47+i_94^0 == 0 /\ -head_175^post47+head_175^0 == 0 /\ __disjvr_8^0-__disjvr_8^post47 == 0 /\ -x_16^post47+x_16^0 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ a_260^0-a_260^post47 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ __disjvr_10^0-__disjvr_10^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -head_27^post47+head_27^0 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ -f_170^post47+f_170^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_4^post47+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ -i_167^post47+i_167^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ x_20^0-x_20^post47 == 0 /\ __disjvr_22^post47-__disjvr_22^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ tmp_34^0-tmp_34^post47 == 0 /\ -a_215^post47+a_215^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -__disjvr_18^post47+__disjvr_18^0 == 0 /\ -__disjvr_29^post47+__disjvr_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -a_237^post47+a_237^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post47 == 0 /\ r_163^0-r_163^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -r_124^post47+r_124^0 == 0 /\ a_184^0-a_184^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ r_39^0-r_39^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -__disjvr_11^post47+__disjvr_11^0 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0), cost: 1
  48: l48 -> l49 : __disjvr_0^0'=__disjvr_0^post48, a_215^0'=a_215^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, __disjvr_21^0'=__disjvr_21^post48, __disjvr_3^0'=__disjvr_3^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, head_129^0'=head_129^post48, __disjvr_24^0'=__disjvr_24^post48, len_183^0'=len_183^post48, __disjvr_8^0'=__disjvr_8^post48, a_116^0'=a_116^post48, tmp_34^0'=tmp_34^post48, __disjvr_19^0'=__disjvr_19^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, __disjvr_29^0'=__disjvr_29^post48, r_39^0'=r_39^post48, __disjvr_11^0'=__disjvr_11^post48, a_260^0'=a_260^post48, i_30^0'=i_30^post48, __disjvr_5^0'=__disjvr_5^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_16^0'=__disjvr_16^post48, head_175^0'=head_175^post48, __disjvr_26^0'=__disjvr_26^post48, nondet_12^0'=nondet_12^post48, a_184^0'=a_184^post48, x_20^0'=x_20^post48, __disjvr_20^0'=__disjvr_20^post48, i_167^0'=i_167^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_88^0'=rcd_88^post48, __disjvr_13^0'=__disjvr_13^post48, f_170^0'=f_170^post48, __disjvr_23^0'=__disjvr_23^post48, len_132^0'=len_132^post48, __disjvr_7^0'=__disjvr_7^post48, temp0_15^0'=temp0_15^post48, temp_35^0'=temp_35^post48, __disjvr_18^0'=__disjvr_18^post48, head_32^0'=head_32^post48, __disjvr_28^0'=__disjvr_28^post48, r_163^0'=r_163^post48, __disjvr_10^0'=__disjvr_10^post48, a_237^0'=a_237^post48, y_19^0'=y_19^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_4^0'=__disjvr_4^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, __disjvr_15^0'=__disjvr_15^post48, head_14^0'=head_14^post48, __disjvr_25^0'=__disjvr_25^post48, length_29^0'=length_29^post48, __disjvr_9^0'=__disjvr_9^post48, a_147^0'=a_147^post48, x_16^0'=x_16^post48, __disjvr_1^0'=__disjvr_1^post48, i_108^0'=i_108^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_58^0'=rcd_58^post48, __disjvr_12^0'=__disjvr_12^post48, ct_17^0'=ct_17^post48, i_94^0'=i_94^post48, __disjvr_6^0'=__disjvr_6^post48, t_23^0'=t_23^post48, temp0_31^0'=temp0_31^post48, __disjvr_17^0'=__disjvr_17^post48, head_27^0'=head_27^post48, __disjvr_27^0'=__disjvr_27^post48, r_124^0'=r_124^post48, (__disjvr_7^0-__disjvr_7^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ a_260^0-a_260^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_88^post48+rcd_88^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ a_215^0-a_215^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -x_20^post48+x_20^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ head_129^0-head_129^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -r_124^post48+r_124^0 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -i_108^post48+i_108^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -temp0_15^post48+temp0_15^0 == 0 /\ len_132^0-len_132^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ len_183^0-len_183^post48 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ __disjvr_30^0-__disjvr_30^post48 == 0 /\ -ct_17^post48+ct_17^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ -head_14^post48+head_14^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ a_184^0-a_184^post48 == 0 /\ -t_23^post48+t_23^0 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -r_163^post48+r_163^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -a_147^post48+a_147^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ a_237^0-a_237^post48 == 0 /\ i_30^0-i_30^post48 == 0 /\ -f_170^post48+f_170^0 == 0 /\ __disjvr_18^0-__disjvr_18^post48 == 0 /\ -y_19^post48+y_19^0 == 0 /\ head_175^0-head_175^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_23^post48-__disjvr_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ i_167^0-i_167^post48 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ a_116^0-a_116^post48 == 0 /\ -r_39^post48+r_39^0 == 0 /\ -head_27^post48+head_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0), cost: 1
  49: l49 -> l44 : __disjvr_0^0'=__disjvr_0^post49, a_215^0'=a_215^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, __disjvr_21^0'=__disjvr_21^post49, __disjvr_3^0'=__disjvr_3^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, head_129^0'=head_129^post49, __disjvr_24^0'=__disjvr_24^post49, len_183^0'=len_183^post49, __disjvr_8^0'=__disjvr_8^post49, a_116^0'=a_116^post49, tmp_34^0'=tmp_34^post49, __disjvr_19^0'=__disjvr_19^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, __disjvr_29^0'=__disjvr_29^post49, r_39^0'=r_39^post49, __disjvr_11^0'=__disjvr_11^post49, a_260^0'=a_260^post49, i_30^0'=i_30^post49, __disjvr_5^0'=__disjvr_5^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_16^0'=__disjvr_16^post49, head_175^0'=head_175^post49, __disjvr_26^0'=__disjvr_26^post49, nondet_12^0'=nondet_12^post49, a_184^0'=a_184^post49, x_20^0'=x_20^post49, __disjvr_20^0'=__disjvr_20^post49, i_167^0'=i_167^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_88^0'=rcd_88^post49, __disjvr_13^0'=__disjvr_13^post49, f_170^0'=f_170^post49, __disjvr_23^0'=__disjvr_23^post49, len_132^0'=len_132^post49, __disjvr_7^0'=__disjvr_7^post49, temp0_15^0'=temp0_15^post49, temp_35^0'=temp_35^post49, __disjvr_18^0'=__disjvr_18^post49, head_32^0'=head_32^post49, __disjvr_28^0'=__disjvr_28^post49, r_163^0'=r_163^post49, __disjvr_10^0'=__disjvr_10^post49, a_237^0'=a_237^post49, y_19^0'=y_19^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_4^0'=__disjvr_4^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, __disjvr_15^0'=__disjvr_15^post49, head_14^0'=head_14^post49, __disjvr_25^0'=__disjvr_25^post49, length_29^0'=length_29^post49, __disjvr_9^0'=__disjvr_9^post49, a_147^0'=a_147^post49, x_16^0'=x_16^post49, __disjvr_1^0'=__disjvr_1^post49, i_108^0'=i_108^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_58^0'=rcd_58^post49, __disjvr_12^0'=__disjvr_12^post49, ct_17^0'=ct_17^post49, i_94^0'=i_94^post49, __disjvr_6^0'=__disjvr_6^post49, t_23^0'=t_23^post49, temp0_31^0'=temp0_31^post49, __disjvr_17^0'=__disjvr_17^post49, head_27^0'=head_27^post49, __disjvr_27^0'=__disjvr_27^post49, r_124^0'=r_124^post49, (0 == 0 /\ -length_29^post49+length_29^0 == 0 /\ -head_27^post49+head_27^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -t_23^post49+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ len_183^0-len_183^post49 == 0 /\ a_147^post49-a_184^0 <= 0 /\ -head_14^post49+head_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ __disjvr_30^0-__disjvr_30^post49 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -head_175^post49+head_175^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ -a_184^post49+a_184^0 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ head_32^0-head_32^post49 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ i_108^0-i_108^post49 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ r_163^0-r_163^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -a_147^post49+a_184^0 <= 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ head_129^0-head_129^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ f_170^0-f_170^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ x_20^0-x_20^post49 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post49 == 0 /\ i_167^0-i_167^post49 == 0 /\ len_183^0-len_132^post49 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_116^0-a_116^post49 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ -x_16^post49+x_16^0 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -a_237^post49+a_237^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post49 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_260^0-a_260^post49 == 0 /\ __disjvr_7^0-__disjvr_7^post49 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ -len_183^0+len_132^post49 <= 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ a_215^0-a_215^post49 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -r_124^post49+r_124^0 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ __disjvr_28^0-__disjvr_28^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0), cost: 1
  50: l44 -> l41 : __disjvr_0^0'=__disjvr_0^post50, a_215^0'=a_215^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, __disjvr_21^0'=__disjvr_21^post50, __disjvr_3^0'=__disjvr_3^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, head_129^0'=head_129^post50, __disjvr_24^0'=__disjvr_24^post50, len_183^0'=len_183^post50, __disjvr_8^0'=__disjvr_8^post50, a_116^0'=a_116^post50, tmp_34^0'=tmp_34^post50, __disjvr_19^0'=__disjvr_19^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, __disjvr_29^0'=__disjvr_29^post50, r_39^0'=r_39^post50, __disjvr_11^0'=__disjvr_11^post50, a_260^0'=a_260^post50, i_30^0'=i_30^post50, __disjvr_5^0'=__disjvr_5^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_16^0'=__disjvr_16^post50, head_175^0'=head_175^post50, __disjvr_26^0'=__disjvr_26^post50, nondet_12^0'=nondet_12^post50, a_184^0'=a_184^post50, x_20^0'=x_20^post50, __disjvr_20^0'=__disjvr_20^post50, i_167^0'=i_167^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_88^0'=rcd_88^post50, __disjvr_13^0'=__disjvr_13^post50, f_170^0'=f_170^post50, __disjvr_23^0'=__disjvr_23^post50, len_132^0'=len_132^post50, __disjvr_7^0'=__disjvr_7^post50, temp0_15^0'=temp0_15^post50, temp_35^0'=temp_35^post50, __disjvr_18^0'=__disjvr_18^post50, head_32^0'=head_32^post50, __disjvr_28^0'=__disjvr_28^post50, r_163^0'=r_163^post50, __disjvr_10^0'=__disjvr_10^post50, a_237^0'=a_237^post50, y_19^0'=y_19^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_4^0'=__disjvr_4^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, __disjvr_15^0'=__disjvr_15^post50, head_14^0'=head_14^post50, __disjvr_25^0'=__disjvr_25^post50, length_29^0'=length_29^post50, __disjvr_9^0'=__disjvr_9^post50, a_147^0'=a_147^post50, x_16^0'=x_16^post50, __disjvr_1^0'=__disjvr_1^post50, i_108^0'=i_108^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_58^0'=rcd_58^post50, __disjvr_12^0'=__disjvr_12^post50, ct_17^0'=ct_17^post50, i_94^0'=i_94^post50, __disjvr_6^0'=__disjvr_6^post50, t_23^0'=t_23^post50, temp0_31^0'=temp0_31^post50, __disjvr_17^0'=__disjvr_17^post50, head_27^0'=head_27^post50, __disjvr_27^0'=__disjvr_27^post50, r_124^0'=r_124^post50, (rcd_88^0-rcd_88^post50 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ -i_167^post50+i_167^0 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -a_237^post50+a_237^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -x_16^post50+x_16^0 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ x_20^0-x_20^post50 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ head_175^0-head_175^post50 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ ct_17^0-ct_17^post50 == 0 /\ rcd_58^0-rcd_58^post50 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -r_124^post50+r_124^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ -i_30^post50+i_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -__disjvr_9^post50+__disjvr_9^0 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ -head_27^post50+head_27^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ r_39^0-r_39^post50 == 0 /\ -t_23^post50+t_23^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post50 == 0 /\ tmp_34^0-tmp_34^post50 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ a_215^0-a_215^post50 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ a_184^0-a_184^post50 == 0 /\ -a_116^post50+a_116^0 == 0 /\ -len_132^post50+len_132^0 == 0 /\ -a_147^post50+a_147^0 == 0 /\ -head_14^post50+head_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ head_129^0-head_129^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -a_260^post50+a_260^0 == 0 /\ -r_163^post50+r_163^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ len_183^0-len_183^post50 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ y_19^0-y_19^post50 == 0 /\ -f_170^post50+f_170^0 == 0), cost: 1
  66: l63 -> l64 : __disjvr_0^0'=__disjvr_0^post66, a_215^0'=a_215^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, __disjvr_21^0'=__disjvr_21^post66, __disjvr_3^0'=__disjvr_3^post66, result_11^0'=result_11^post66, __disjvr_14^0'=__disjvr_14^post66, head_129^0'=head_129^post66, __disjvr_24^0'=__disjvr_24^post66, len_183^0'=len_183^post66, __disjvr_8^0'=__disjvr_8^post66, a_116^0'=a_116^post66, tmp_34^0'=tmp_34^post66, __disjvr_19^0'=__disjvr_19^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, __disjvr_29^0'=__disjvr_29^post66, r_39^0'=r_39^post66, __disjvr_11^0'=__disjvr_11^post66, a_260^0'=a_260^post66, i_30^0'=i_30^post66, __disjvr_5^0'=__disjvr_5^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_16^0'=__disjvr_16^post66, head_175^0'=head_175^post66, __disjvr_26^0'=__disjvr_26^post66, nondet_12^0'=nondet_12^post66, a_184^0'=a_184^post66, x_20^0'=x_20^post66, __disjvr_20^0'=__disjvr_20^post66, i_167^0'=i_167^post66, __disjvr_30^0'=__disjvr_30^post66, rcd_88^0'=rcd_88^post66, __disjvr_13^0'=__disjvr_13^post66, f_170^0'=f_170^post66, __disjvr_23^0'=__disjvr_23^post66, len_132^0'=len_132^post66, __disjvr_7^0'=__disjvr_7^post66, temp0_15^0'=temp0_15^post66, temp_35^0'=temp_35^post66, __disjvr_18^0'=__disjvr_18^post66, head_32^0'=head_32^post66, __disjvr_28^0'=__disjvr_28^post66, r_163^0'=r_163^post66, __disjvr_10^0'=__disjvr_10^post66, a_237^0'=a_237^post66, y_19^0'=y_19^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_4^0'=__disjvr_4^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, __disjvr_15^0'=__disjvr_15^post66, head_14^0'=head_14^post66, __disjvr_25^0'=__disjvr_25^post66, length_29^0'=length_29^post66, __disjvr_9^0'=__disjvr_9^post66, a_147^0'=a_147^post66, x_16^0'=x_16^post66, __disjvr_1^0'=__disjvr_1^post66, i_108^0'=i_108^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_58^0'=rcd_58^post66, __disjvr_12^0'=__disjvr_12^post66, ct_17^0'=ct_17^post66, i_94^0'=i_94^post66, __disjvr_6^0'=__disjvr_6^post66, t_23^0'=t_23^post66, temp0_31^0'=temp0_31^post66, __disjvr_17^0'=__disjvr_17^post66, head_27^0'=head_27^post66, __disjvr_27^0'=__disjvr_27^post66, r_124^0'=r_124^post66, (-__disjvr_30^0+__disjvr_30^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ a_260^0-a_260^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ a_237^0-a_237^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ i_167^0-i_167^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -x_20^post66+x_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ __disjvr_28^0-__disjvr_28^post66 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ __disjvr_1^0-__disjvr_1^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ __disjvr_30^0-__disjvr_30^post66 == 0 /\ -temp0_15^post66+temp0_15^0 == 0 /\ head_175^0-head_175^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ ct_17^0-ct_17^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ -t_23^post66+t_23^0 == 0 /\ -r_124^post66+r_124^0 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_184^0-a_184^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_6^0-__disjvr_6^post66 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ length_29^0-length_29^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ -head_14^post66+head_14^0 == 0 /\ a_215^0-a_215^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -y_19^post66+y_19^0 == 0 /\ -a_116^post66+a_116^0 == 0 /\ head_129^0-head_129^post66 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ i_30^0-i_30^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -r_163^post66+r_163^0 == 0 /\ -head_27^post66+head_27^0 == 0 /\ f_170^0-f_170^post66 == 0 /\ len_132^0-len_132^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0), cost: 1
  67: l64 -> l41 : __disjvr_0^0'=__disjvr_0^post67, a_215^0'=a_215^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, __disjvr_21^0'=__disjvr_21^post67, __disjvr_3^0'=__disjvr_3^post67, result_11^0'=result_11^post67, __disjvr_14^0'=__disjvr_14^post67, head_129^0'=head_129^post67, __disjvr_24^0'=__disjvr_24^post67, len_183^0'=len_183^post67, __disjvr_8^0'=__disjvr_8^post67, a_116^0'=a_116^post67, tmp_34^0'=tmp_34^post67, __disjvr_19^0'=__disjvr_19^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, __disjvr_29^0'=__disjvr_29^post67, r_39^0'=r_39^post67, __disjvr_11^0'=__disjvr_11^post67, a_260^0'=a_260^post67, i_30^0'=i_30^post67, __disjvr_5^0'=__disjvr_5^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_16^0'=__disjvr_16^post67, head_175^0'=head_175^post67, __disjvr_26^0'=__disjvr_26^post67, nondet_12^0'=nondet_12^post67, a_184^0'=a_184^post67, x_20^0'=x_20^post67, __disjvr_20^0'=__disjvr_20^post67, i_167^0'=i_167^post67, __disjvr_30^0'=__disjvr_30^post67, rcd_88^0'=rcd_88^post67, __disjvr_13^0'=__disjvr_13^post67, f_170^0'=f_170^post67, __disjvr_23^0'=__disjvr_23^post67, len_132^0'=len_132^post67, __disjvr_7^0'=__disjvr_7^post67, temp0_15^0'=temp0_15^post67, temp_35^0'=temp_35^post67, __disjvr_18^0'=__disjvr_18^post67, head_32^0'=head_32^post67, __disjvr_28^0'=__disjvr_28^post67, r_163^0'=r_163^post67, __disjvr_10^0'=__disjvr_10^post67, a_237^0'=a_237^post67, y_19^0'=y_19^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_4^0'=__disjvr_4^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, __disjvr_15^0'=__disjvr_15^post67, head_14^0'=head_14^post67, __disjvr_25^0'=__disjvr_25^post67, length_29^0'=length_29^post67, __disjvr_9^0'=__disjvr_9^post67, a_147^0'=a_147^post67, x_16^0'=x_16^post67, __disjvr_1^0'=__disjvr_1^post67, i_108^0'=i_108^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_58^0'=rcd_58^post67, __disjvr_12^0'=__disjvr_12^post67, ct_17^0'=ct_17^post67, i_94^0'=i_94^post67, __disjvr_6^0'=__disjvr_6^post67, t_23^0'=t_23^post67, temp0_31^0'=temp0_31^post67, __disjvr_17^0'=__disjvr_17^post67, head_27^0'=head_27^post67, __disjvr_27^0'=__disjvr_27^post67, r_124^0'=r_124^post67, (-a_147^post67+a_147^0 == 0 /\ head_129^0-head_129^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ -a_184^post67+a_184^0 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ -head_27^post67+head_27^0 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ -__disjvr_9^post67+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -y_19^post67+y_19^0 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ x_20^0-x_20^post67 == 0 /\ f_170^0-f_170^post67 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ i_167^0-i_167^post67 == 0 /\ head_32^0-head_32^post67 == 0 /\ -__disjvr_1^post67+__disjvr_1^0 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ -rcd_58^post67+rcd_58^0 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ r_39^0-r_39^post67 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ a_215^0-a_215^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ -len_132^post67+len_132^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ head_14^0-head_14^post67 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ -head_175^post67+head_175^0 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post67+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_16^post67+x_16^0 == 0 /\ a_116^0-a_116^post67 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ a_260^0-a_260^post67 == 0 /\ len_183^0-len_183^post67 == 0 /\ -temp0_31^post67+temp0_31^0 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ -a_237^post67+a_237^0 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ -i_108^post67+i_108^0 == 0 /\ __disjvr_7^0-__disjvr_7^post67 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ tmp_34^0-tmp_34^post67 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -head_SLAM_f_26^post67+head_SLAM_f_26^0 == 0 /\ -i_30^post67+i_30^0 == 0 /\ -__disjvr_24^post67+__disjvr_24^0 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ -r_124^post67+r_124^0 == 0 /\ -__disjvr_25^post67+__disjvr_25^0 == 0 /\ __disjvr_22^0-__disjvr_22^post67 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ r_163^0-r_163^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0), cost: 1
  69: l65 -> l38 : __disjvr_0^0'=__disjvr_0^post69, a_215^0'=a_215^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, __disjvr_21^0'=__disjvr_21^post69, __disjvr_3^0'=__disjvr_3^post69, result_11^0'=result_11^post69, __disjvr_14^0'=__disjvr_14^post69, head_129^0'=head_129^post69, __disjvr_24^0'=__disjvr_24^post69, len_183^0'=len_183^post69, __disjvr_8^0'=__disjvr_8^post69, a_116^0'=a_116^post69, tmp_34^0'=tmp_34^post69, __disjvr_19^0'=__disjvr_19^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, __disjvr_29^0'=__disjvr_29^post69, r_39^0'=r_39^post69, __disjvr_11^0'=__disjvr_11^post69, a_260^0'=a_260^post69, i_30^0'=i_30^post69, __disjvr_5^0'=__disjvr_5^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_16^0'=__disjvr_16^post69, head_175^0'=head_175^post69, __disjvr_26^0'=__disjvr_26^post69, nondet_12^0'=nondet_12^post69, a_184^0'=a_184^post69, x_20^0'=x_20^post69, __disjvr_20^0'=__disjvr_20^post69, i_167^0'=i_167^post69, __disjvr_30^0'=__disjvr_30^post69, rcd_88^0'=rcd_88^post69, __disjvr_13^0'=__disjvr_13^post69, f_170^0'=f_170^post69, __disjvr_23^0'=__disjvr_23^post69, len_132^0'=len_132^post69, __disjvr_7^0'=__disjvr_7^post69, temp0_15^0'=temp0_15^post69, temp_35^0'=temp_35^post69, __disjvr_18^0'=__disjvr_18^post69, head_32^0'=head_32^post69, __disjvr_28^0'=__disjvr_28^post69, r_163^0'=r_163^post69, __disjvr_10^0'=__disjvr_10^post69, a_237^0'=a_237^post69, y_19^0'=y_19^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_4^0'=__disjvr_4^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, __disjvr_15^0'=__disjvr_15^post69, head_14^0'=head_14^post69, __disjvr_25^0'=__disjvr_25^post69, length_29^0'=length_29^post69, __disjvr_9^0'=__disjvr_9^post69, a_147^0'=a_147^post69, x_16^0'=x_16^post69, __disjvr_1^0'=__disjvr_1^post69, i_108^0'=i_108^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_58^0'=rcd_58^post69, __disjvr_12^0'=__disjvr_12^post69, ct_17^0'=ct_17^post69, i_94^0'=i_94^post69, __disjvr_6^0'=__disjvr_6^post69, t_23^0'=t_23^post69, temp0_31^0'=temp0_31^post69, __disjvr_17^0'=__disjvr_17^post69, head_27^0'=head_27^post69, __disjvr_27^0'=__disjvr_27^post69, r_124^0'=r_124^post69, (__disjvr_5^0-__disjvr_5^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ rcd_58^0-rcd_58^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ -i_108^post69+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ -a_147^post69+a_147^0 == 0 /\ __disjvr_8^0-__disjvr_8^post69 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post69 == 0 /\ -a_184^post69+a_184^0 == 0 /\ x_16^0-x_16^post69 == 0 /\ __disjvr_30^0-__disjvr_30^post69 == 0 /\ head_129^0-head_129^post69 == 0 /\ -head_27^post69+head_27^0 == 0 /\ a_260^0-a_260^post69 == 0 /\ -__disjvr_23^post69+__disjvr_23^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -y_19^post69+y_19^0 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ a_116^0-a_116^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ a_215^0-a_215^post69 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0 /\ -rcd_88^post69+rcd_88^0 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ -f_170^post69+f_170^0 == 0 /\ __disjvr_7^0-__disjvr_7^post69 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ -__disjvr_4^post69+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -r_163^post69+r_163^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ __disjvr_13^0-__disjvr_13^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ len_183^0-len_183^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ a_237^0-a_237^post69 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ -head_14^post69+head_14^0 == 0 /\ i_167^0-i_167^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -__disjvr_20^post69+__disjvr_20^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ -__disjvr_24^post69+__disjvr_24^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ -t_23^post69+t_23^0 == 0), cost: 1
  72: l66 -> l39 : __disjvr_0^0'=__disjvr_0^post72, a_215^0'=a_215^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, __disjvr_21^0'=__disjvr_21^post72, __disjvr_3^0'=__disjvr_3^post72, result_11^0'=result_11^post72, __disjvr_14^0'=__disjvr_14^post72, head_129^0'=head_129^post72, __disjvr_24^0'=__disjvr_24^post72, len_183^0'=len_183^post72, __disjvr_8^0'=__disjvr_8^post72, a_116^0'=a_116^post72, tmp_34^0'=tmp_34^post72, __disjvr_19^0'=__disjvr_19^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, __disjvr_29^0'=__disjvr_29^post72, r_39^0'=r_39^post72, __disjvr_11^0'=__disjvr_11^post72, a_260^0'=a_260^post72, i_30^0'=i_30^post72, __disjvr_5^0'=__disjvr_5^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, __disjvr_16^0'=__disjvr_16^post72, head_175^0'=head_175^post72, __disjvr_26^0'=__disjvr_26^post72, nondet_12^0'=nondet_12^post72, a_184^0'=a_184^post72, x_20^0'=x_20^post72, __disjvr_20^0'=__disjvr_20^post72, i_167^0'=i_167^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_88^0'=rcd_88^post72, __disjvr_13^0'=__disjvr_13^post72, f_170^0'=f_170^post72, __disjvr_23^0'=__disjvr_23^post72, len_132^0'=len_132^post72, __disjvr_7^0'=__disjvr_7^post72, temp0_15^0'=temp0_15^post72, temp_35^0'=temp_35^post72, __disjvr_18^0'=__disjvr_18^post72, head_32^0'=head_32^post72, __disjvr_28^0'=__disjvr_28^post72, r_163^0'=r_163^post72, __disjvr_10^0'=__disjvr_10^post72, a_237^0'=a_237^post72, y_19^0'=y_19^post72, __disjvr_22^0'=__disjvr_22^post72, __disjvr_4^0'=__disjvr_4^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, __disjvr_15^0'=__disjvr_15^post72, head_14^0'=head_14^post72, __disjvr_25^0'=__disjvr_25^post72, length_29^0'=length_29^post72, __disjvr_9^0'=__disjvr_9^post72, a_147^0'=a_147^post72, x_16^0'=x_16^post72, __disjvr_1^0'=__disjvr_1^post72, i_108^0'=i_108^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_58^0'=rcd_58^post72, __disjvr_12^0'=__disjvr_12^post72, ct_17^0'=ct_17^post72, i_94^0'=i_94^post72, __disjvr_6^0'=__disjvr_6^post72, t_23^0'=t_23^post72, temp0_31^0'=temp0_31^post72, __disjvr_17^0'=__disjvr_17^post72, head_27^0'=head_27^post72, __disjvr_27^0'=__disjvr_27^post72, r_124^0'=r_124^post72, (r_39^0-r_39^post72 == 0 /\ -__disjvr_13^post72+__disjvr_13^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ a_260^0-a_260^post72 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -__disjvr_16^post72+__disjvr_16^0 == 0 /\ -__disjvr_4^post72+__disjvr_4^0 == 0 /\ -__disjvr_9^post72+__disjvr_9^0 == 0 /\ r_163^0-r_163^post72 == 0 /\ __disjvr_5^0-__disjvr_5^post72 == 0 /\ -i_108^post72+i_108^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post72 == 0 /\ head_32^0-head_32^post72 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ head_129^0-head_129^post72 == 0 /\ -__disjvr_18^post72+__disjvr_18^0 == 0 /\ -__disjvr_11^post72+__disjvr_11^0 == 0 /\ -ct_17^post72+ct_17^0 == 0 /\ a_147^0-a_147^post72 == 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ -len_132^post72+len_132^0 == 0 /\ x_20^0-x_20^post72 == 0 /\ temp_35^0-temp_35^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ tmp_34^0-tmp_34^post72 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -a_237^post72+a_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post72 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post72 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ i_94^0-i_94^post72 == 0 /\ -head_14^post72+head_14^0 == 0 /\ len_183^0-len_183^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -__disjvr_14^post72+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -r_124^post72+r_124^0 == 0 /\ a_184^0-a_184^post72 == 0 /\ -head_175^post72+head_175^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72 == 0 /\ t_23^0-t_23^post72 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ a_215^0-a_215^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ -f_170^post72+f_170^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -x_16^post72+x_16^0 == 0 /\ a_116^0-a_116^post72 == 0 /\ -length_29^post72+length_29^0 == 0 /\ -head_27^post72+head_27^0 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -__disjvr_6^post72+__disjvr_6^0 == 0 /\ -y_19^post72+y_19^0 == 0), cost: 1


Applied preprocessing
Original rule:
l0 -> l3 : __disjvr_0^0'=__disjvr_0^post1, a_215^0'=a_215^post1, x_SLAM_f_18^0'=x_SLAM_f_18^post1, __disjvr_21^0'=__disjvr_21^post1, __disjvr_3^0'=__disjvr_3^post1, result_11^0'=result_11^post1, __disjvr_14^0'=__disjvr_14^post1, head_129^0'=head_129^post1, __disjvr_24^0'=__disjvr_24^post1, len_183^0'=len_183^post1, __disjvr_8^0'=__disjvr_8^post1, a_116^0'=a_116^post1, tmp_34^0'=tmp_34^post1, __disjvr_19^0'=__disjvr_19^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post1, __disjvr_29^0'=__disjvr_29^post1, r_39^0'=r_39^post1, __disjvr_11^0'=__disjvr_11^post1, a_260^0'=a_260^post1, i_30^0'=i_30^post1, __disjvr_5^0'=__disjvr_5^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, __disjvr_16^0'=__disjvr_16^post1, head_175^0'=head_175^post1, __disjvr_26^0'=__disjvr_26^post1, nondet_12^0'=nondet_12^post1, a_184^0'=a_184^post1, x_20^0'=x_20^post1, __disjvr_20^0'=__disjvr_20^post1, i_167^0'=i_167^post1, __disjvr_30^0'=__disjvr_30^post1, rcd_88^0'=rcd_88^post1, __disjvr_13^0'=__disjvr_13^post1, f_170^0'=f_170^post1, __disjvr_23^0'=__disjvr_23^post1, len_132^0'=len_132^post1, __disjvr_7^0'=__disjvr_7^post1, temp0_15^0'=temp0_15^post1, temp_35^0'=temp_35^post1, __disjvr_18^0'=__disjvr_18^post1, head_32^0'=head_32^post1, __disjvr_28^0'=__disjvr_28^post1, r_163^0'=r_163^post1, __disjvr_10^0'=__disjvr_10^post1, a_237^0'=a_237^post1, y_19^0'=y_19^post1, __disjvr_22^0'=__disjvr_22^post1, __disjvr_4^0'=__disjvr_4^post1, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1, __disjvr_15^0'=__disjvr_15^post1, head_14^0'=head_14^post1, __disjvr_25^0'=__disjvr_25^post1, length_29^0'=length_29^post1, __disjvr_9^0'=__disjvr_9^post1, a_147^0'=a_147^post1, x_16^0'=x_16^post1, __disjvr_1^0'=__disjvr_1^post1, i_108^0'=i_108^post1, __disjvr_2^0'=__disjvr_2^post1, rcd_58^0'=rcd_58^post1, __disjvr_12^0'=__disjvr_12^post1, ct_17^0'=ct_17^post1, i_94^0'=i_94^post1, __disjvr_6^0'=__disjvr_6^post1, t_23^0'=t_23^post1, temp0_31^0'=temp0_31^post1, __disjvr_17^0'=__disjvr_17^post1, head_27^0'=head_27^post1, __disjvr_27^0'=__disjvr_27^post1, r_124^0'=r_124^post1, (0 == 0 /\ __disjvr_8^0-__disjvr_8^post1 == 0 /\ rcd_58^0-rcd_58^post1 == 0 /\ __disjvr_26^0-__disjvr_26^post1 == 0 /\ -f_170^post1+f_170^0 == 0 /\ __disjvr_5^0-__disjvr_5^post1 == 0 /\ -y_19^post1+y_19^0 == 0 /\ -__disjvr_6^post1+__disjvr_6^0 == 0 /\ -a_237^0 <= 0 /\ __disjvr_11^0-__disjvr_11^post1 == 0 /\ -temp0_15^post1+temp0_15^0 == 0 /\ -__disjvr_9^post1+__disjvr_9^0 == 0 /\ head_129^0-head_129^post1 == 0 /\ -__disjvr_17^post1+__disjvr_17^0 == 0 /\ -i_108^post1+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post1+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post1 == 0 /\ a_260^0-a_260^post1 == 0 /\ -head_27^post1+head_27^0 == 0 /\ -nondet_12^post1+nondet_12^0 == 0 /\ __disjvr_15^0-__disjvr_15^post1 == 0 /\ a_215^0-a_215^post1 == 0 /\ -__disjvr_2^post1+__disjvr_2^0 == 0 /\ __disjvr_16^0-__disjvr_16^post1 == 0 /\ -__disjvr_4^post1+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post1 == 0 /\ __disjvr_29^0-__disjvr_29^post1 == 0 /\ -temp0_31^post1+temp0_31^0 == 0 /\ -a_147^post1+a_147^0 == 0 /\ -rcd_88^post1+rcd_88^0 == 0 /\ -x_20^post1+x_20^0 == 0 /\ __disjvr_7^0-__disjvr_7^post1 == 0 /\ -head_32^post1+head_32^0 == 0 /\ -__disjvr_25^post1+__disjvr_25^0 == 0 /\ __disjvr_14^0-__disjvr_14^post1 == 0 /\ __disjvr_13^0-__disjvr_13^post1 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post1 == 0 /\ len_183^0-len_183^post1 == 0 /\ len_132^0-len_132^post1 == 0 /\ -__disjvr_22^post1+__disjvr_22^0 == 0 /\ __disjvr_30^0-__disjvr_30^post1 == 0 /\ -r_163^post1+r_163^0 == 0 /\ -__disjvr_1^post1+__disjvr_1^0 == 0 /\ -__disjvr_10^post1+__disjvr_10^0 == 0 /\ -r_124^post1+r_124^0 == 0 /\ -tmp_34^post1+tmp_34^0 == 0 /\ __disjvr_21^0-__disjvr_21^post1 == 0 /\ -__disjvr_27^post1+__disjvr_27^0 == 0 /\ -length_29^post1+length_29^0 == 0 /\ i_167^0-i_167^post1 == 0 /\ -__disjvr_23^post1+__disjvr_23^0 == 0 /\ a_116^0-a_116^post1 == 0 /\ -__disjvr_20^post1+__disjvr_20^0 == 0 /\ -i_94^post1+i_94^0 == 0 /\ -t_23^post1+t_23^0 == 0 /\ a_237^0-a_237^post1 == 0 /\ __disjvr_24^0-__disjvr_24^post1 == 0 /\ i_30^0-i_30^post1 == 0 /\ __disjvr_18^0-__disjvr_18^post1 == 0 /\ -__disjvr_12^post1+__disjvr_12^0 == 0 /\ -a_184^post1+a_184^0 == 0 /\ __disjvr_0^0-__disjvr_0^post1 == 0 /\ head_175^0-head_175^post1 == 0 /\ -temp_35^post1+temp_35^0 == 0 /\ result_11^0-result_11^post1 == 0 /\ __disjvr_3^0-__disjvr_3^post1 == 0), cost: 1
New rule:
l0 -> l3 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, a_237^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l3 -> l4 : __disjvr_0^0'=__disjvr_0^post2, a_215^0'=a_215^post2, x_SLAM_f_18^0'=x_SLAM_f_18^post2, __disjvr_21^0'=__disjvr_21^post2, __disjvr_3^0'=__disjvr_3^post2, result_11^0'=result_11^post2, __disjvr_14^0'=__disjvr_14^post2, head_129^0'=head_129^post2, __disjvr_24^0'=__disjvr_24^post2, len_183^0'=len_183^post2, __disjvr_8^0'=__disjvr_8^post2, a_116^0'=a_116^post2, tmp_34^0'=tmp_34^post2, __disjvr_19^0'=__disjvr_19^post2, head_SLAM_f_26^0'=head_SLAM_f_26^post2, __disjvr_29^0'=__disjvr_29^post2, r_39^0'=r_39^post2, __disjvr_11^0'=__disjvr_11^post2, a_260^0'=a_260^post2, i_30^0'=i_30^post2, __disjvr_5^0'=__disjvr_5^post2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post2, __disjvr_16^0'=__disjvr_16^post2, head_175^0'=head_175^post2, __disjvr_26^0'=__disjvr_26^post2, nondet_12^0'=nondet_12^post2, a_184^0'=a_184^post2, x_20^0'=x_20^post2, __disjvr_20^0'=__disjvr_20^post2, i_167^0'=i_167^post2, __disjvr_30^0'=__disjvr_30^post2, rcd_88^0'=rcd_88^post2, __disjvr_13^0'=__disjvr_13^post2, f_170^0'=f_170^post2, __disjvr_23^0'=__disjvr_23^post2, len_132^0'=len_132^post2, __disjvr_7^0'=__disjvr_7^post2, temp0_15^0'=temp0_15^post2, temp_35^0'=temp_35^post2, __disjvr_18^0'=__disjvr_18^post2, head_32^0'=head_32^post2, __disjvr_28^0'=__disjvr_28^post2, r_163^0'=r_163^post2, __disjvr_10^0'=__disjvr_10^post2, a_237^0'=a_237^post2, y_19^0'=y_19^post2, __disjvr_22^0'=__disjvr_22^post2, __disjvr_4^0'=__disjvr_4^post2, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2, __disjvr_15^0'=__disjvr_15^post2, head_14^0'=head_14^post2, __disjvr_25^0'=__disjvr_25^post2, length_29^0'=length_29^post2, __disjvr_9^0'=__disjvr_9^post2, a_147^0'=a_147^post2, x_16^0'=x_16^post2, __disjvr_1^0'=__disjvr_1^post2, i_108^0'=i_108^post2, __disjvr_2^0'=__disjvr_2^post2, rcd_58^0'=rcd_58^post2, __disjvr_12^0'=__disjvr_12^post2, ct_17^0'=ct_17^post2, i_94^0'=i_94^post2, __disjvr_6^0'=__disjvr_6^post2, t_23^0'=t_23^post2, temp0_31^0'=temp0_31^post2, __disjvr_17^0'=__disjvr_17^post2, head_27^0'=head_27^post2, __disjvr_27^0'=__disjvr_27^post2, r_124^0'=r_124^post2, (-rcd_58^post2+rcd_58^0 == 0 /\ a_215^0-a_215^post2 == 0 /\ result_11^0-result_11^post2 == 0 /\ -__disjvr_1^post2+__disjvr_1^0 == 0 /\ -head_175^post2+head_175^0 == 0 /\ __disjvr_24^0-__disjvr_24^post2 == 0 /\ -a_237^post2+a_237^0 == 0 /\ a_147^0-a_147^post2 == 0 /\ -r_124^post2+r_124^0 == 0 /\ -i_94^post2+i_94^0 == 0 /\ r_39^0-r_39^post2 == 0 /\ temp_35^0-temp_35^post2 == 0 /\ tmp_34^0-tmp_34^post2 == 0 /\ nondet_12^0-nondet_12^post2 == 0 /\ -head_27^post2+head_27^0 == 0 /\ -__disjvr_17^post2+__disjvr_17^0 == 0 /\ -length_29^post2+length_29^0 == 0 /\ -__disjvr_23^post2+__disjvr_23^0 == 0 /\ r_163^0-r_163^post2 == 0 /\ __disjvr_19^0-__disjvr_19^post2 == 0 /\ temp0_15^0-temp0_15^post2 == 0 /\ -__disjvr_10^post2+__disjvr_10^0 == 0 /\ -__disjvr_7^post2+__disjvr_7^0 == 0 /\ -t_23^post2+t_23^0 == 0 /\ -__disjvr_27^post2+__disjvr_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post2 == 0 /\ -__disjvr_12^post2+__disjvr_12^0 == 0 /\ -__disjvr_16^post2+__disjvr_16^0 == 0 /\ head_129^0-head_129^post2 == 0 /\ -__disjvr_8^post2+__disjvr_8^0 == 0 /\ __disjvr_21^0-__disjvr_21^post2 == 0 /\ f_170^0-f_170^post2 == 0 /\ -x_16^post2+x_16^0 == 0 /\ i_108^0-i_108^post2 == 0 /\ -head_14^post2+head_14^0 == 0 /\ head_32^0-head_32^post2 == 0 /\ -head_SLAM_f_26^post2+head_SLAM_f_26^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post2 == 0 /\ -temp0_31^post2+temp0_31^0 == 0 /\ -__disjvr_6^post2+__disjvr_6^0 == 0 /\ a_116^0-a_116^post2 == 0 /\ -i_30^post2+i_30^0 == 0 /\ -y_19^post2+y_19^0 == 0 /\ -__disjvr_18^post2+__disjvr_18^0 == 0 /\ __disjvr_29^0-__disjvr_29^post2 == 0 /\ -a_184^post2+a_184^0 == 0 /\ __disjvr_3^0-__disjvr_3^post2 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post2+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post2+__disjvr_15^0 == 0 /\ -ct_17^post2+ct_17^0 == 0 /\ -__disjvr_9^post2+__disjvr_9^0 == 0 /\ __disjvr_0^0-__disjvr_0^post2 == 0 /\ -len_183^post2+len_183^0 == 0 /\ __disjvr_14^0-__disjvr_14^post2 == 0 /\ -i_167^post2+i_167^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post2 == 0 /\ __disjvr_26^0-__disjvr_26^post2 == 0 /\ -__disjvr_28^post2+__disjvr_28^0 == 0 /\ __disjvr_4^0-__disjvr_4^post2 == 0 /\ -__disjvr_2^post2+__disjvr_2^0 == 0 /\ __disjvr_5^0-__disjvr_5^post2 == 0 /\ __disjvr_20^0-__disjvr_20^post2 == 0 /\ __disjvr_30^0-__disjvr_30^post2 == 0 /\ rcd_88^0-rcd_88^post2 == 0 /\ -__disjvr_22^post2+__disjvr_22^0 == 0 /\ __disjvr_25^0-__disjvr_25^post2 == 0 /\ -len_132^post2+len_132^0 == 0 /\ x_20^0-x_20^post2 == 0 /\ a_260^0-a_260^post2 == 0 /\ -__disjvr_0^0+__disjvr_0^post2 == 0 /\ -__disjvr_13^post2+__disjvr_13^0 == 0), cost: 1
New rule:
l3 -> l4 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l4 -> l5 : __disjvr_0^0'=__disjvr_0^post3, a_215^0'=a_215^post3, x_SLAM_f_18^0'=x_SLAM_f_18^post3, __disjvr_21^0'=__disjvr_21^post3, __disjvr_3^0'=__disjvr_3^post3, result_11^0'=result_11^post3, __disjvr_14^0'=__disjvr_14^post3, head_129^0'=head_129^post3, __disjvr_24^0'=__disjvr_24^post3, len_183^0'=len_183^post3, __disjvr_8^0'=__disjvr_8^post3, a_116^0'=a_116^post3, tmp_34^0'=tmp_34^post3, __disjvr_19^0'=__disjvr_19^post3, head_SLAM_f_26^0'=head_SLAM_f_26^post3, __disjvr_29^0'=__disjvr_29^post3, r_39^0'=r_39^post3, __disjvr_11^0'=__disjvr_11^post3, a_260^0'=a_260^post3, i_30^0'=i_30^post3, __disjvr_5^0'=__disjvr_5^post3, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post3, __disjvr_16^0'=__disjvr_16^post3, head_175^0'=head_175^post3, __disjvr_26^0'=__disjvr_26^post3, nondet_12^0'=nondet_12^post3, a_184^0'=a_184^post3, x_20^0'=x_20^post3, __disjvr_20^0'=__disjvr_20^post3, i_167^0'=i_167^post3, __disjvr_30^0'=__disjvr_30^post3, rcd_88^0'=rcd_88^post3, __disjvr_13^0'=__disjvr_13^post3, f_170^0'=f_170^post3, __disjvr_23^0'=__disjvr_23^post3, len_132^0'=len_132^post3, __disjvr_7^0'=__disjvr_7^post3, temp0_15^0'=temp0_15^post3, temp_35^0'=temp_35^post3, __disjvr_18^0'=__disjvr_18^post3, head_32^0'=head_32^post3, __disjvr_28^0'=__disjvr_28^post3, r_163^0'=r_163^post3, __disjvr_10^0'=__disjvr_10^post3, a_237^0'=a_237^post3, y_19^0'=y_19^post3, __disjvr_22^0'=__disjvr_22^post3, __disjvr_4^0'=__disjvr_4^post3, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3, __disjvr_15^0'=__disjvr_15^post3, head_14^0'=head_14^post3, __disjvr_25^0'=__disjvr_25^post3, length_29^0'=length_29^post3, __disjvr_9^0'=__disjvr_9^post3, a_147^0'=a_147^post3, x_16^0'=x_16^post3, __disjvr_1^0'=__disjvr_1^post3, i_108^0'=i_108^post3, __disjvr_2^0'=__disjvr_2^post3, rcd_58^0'=rcd_58^post3, __disjvr_12^0'=__disjvr_12^post3, ct_17^0'=ct_17^post3, i_94^0'=i_94^post3, __disjvr_6^0'=__disjvr_6^post3, t_23^0'=t_23^post3, temp0_31^0'=temp0_31^post3, __disjvr_17^0'=__disjvr_17^post3, head_27^0'=head_27^post3, __disjvr_27^0'=__disjvr_27^post3, r_124^0'=r_124^post3, (0 == 0 /\ __disjvr_1^0-__disjvr_1^post3 == 0 /\ -temp0_31^post3+temp0_31^0 == 0 /\ -__disjvr_12^post3+__disjvr_12^0 == 0 /\ len_183^0-len_183^post3 == 0 /\ y_19^0-y_19^post3 == 0 /\ len_132^0-len_132^post3 == 0 /\ -__disjvr_6^post3+__disjvr_6^0 == 0 /\ __disjvr_19^0-__disjvr_19^post3 == 0 /\ -y_19^0 <= 0 /\ -__disjvr_26^post3+__disjvr_26^0 == 0 /\ rcd_88^0-rcd_88^post3 == 0 /\ __disjvr_14^0-__disjvr_14^post3 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post3 == 0 /\ 1+a_260^post3-a_237^0 <= 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -f_170^post3+f_170^0 == 0 /\ -i_30^post3+i_30^0 == 0 /\ __disjvr_10^0-__disjvr_10^post3 == 0 /\ -__disjvr_30^post3+__disjvr_30^0 == 0 /\ -__disjvr_9^post3+__disjvr_9^0 == 0 /\ -i_108^post3+i_108^0 == 0 /\ __disjvr_23^0-__disjvr_23^post3 == 0 /\ -__disjvr_4^post3+__disjvr_4^0 == 0 /\ -i_167^post3+i_167^0 == 0 /\ -ct_17^post3+ct_17^0 == 0 /\ -x_20^0+t_23^post3 == 0 /\ -__disjvr_28^post3+__disjvr_28^0 == 0 /\ __disjvr_24^0-__disjvr_24^post3 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post3 == 0 /\ -r_124^post3+r_124^0 == 0 /\ __disjvr_16^0-__disjvr_16^post3 == 0 /\ -__disjvr_25^post3+__disjvr_25^0 == 0 /\ -__disjvr_2^post3+__disjvr_2^0 == 0 /\ rcd_58^0-rcd_58^post3 == 0 /\ __disjvr_3^0-__disjvr_3^post3 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_18^0-__disjvr_18^post3 == 0 /\ -__disjvr_22^post3+__disjvr_22^0 == 0 /\ -a_237^post3+a_237^0 == 0 /\ __disjvr_0^0-__disjvr_0^post3 == 0 /\ -__disjvr_13^post3+__disjvr_13^0 == 0 /\ head_175^0-head_175^post3 == 0 /\ -a_147^post3+a_147^0 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post3 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ temp0_15^0-temp0_15^post3 == 0 /\ r_39^0-r_39^post3 == 0 /\ -r_163^post3+r_163^0 == 0 /\ -__disjvr_5^post3+__disjvr_5^0 == 0 /\ -head_14^post3+head_14^0 == 0 /\ -__disjvr_27^post3+__disjvr_27^0 == 0 /\ head_14^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post3 == 0 /\ -1-a_260^post3+a_237^0 <= 0 /\ __disjvr_21^0-__disjvr_21^post3 == 0 /\ __disjvr_11^0-__disjvr_11^post3 == 0 /\ y_19^0 <= 0 /\ -head_32^post3+head_32^0 == 0 /\ x_20^0-x_20^post3 == 0 /\ -i_94^post3+i_94^0 == 0 /\ a_184^0-a_184^post3 == 0 /\ nondet_12^0-nondet_12^post3 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post3 == 0 /\ -__disjvr_17^post3+__disjvr_17^0 == 0 /\ a_215^0-a_215^post3 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ -head_129^post3+head_129^0 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -length_29^post3+length_29^0 == 0 /\ __disjvr_15^0-__disjvr_15^post3 == 0 /\ -head_27^post3+head_27^0 == 0 /\ result_11^0-result_11^post3 == 0 /\ __disjvr_29^0-__disjvr_29^post3 == 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -ct_17^0 <= 0 /\ -__disjvr_7^post3+__disjvr_7^0 == 0 /\ -x_16^post3+x_16^0 == 0 /\ -a_116^post3+a_116^0 == 0 /\ tmp_34^0-tmp_34^post3 == 0 /\ __disjvr_8^0-__disjvr_8^post3 == 0 /\ temp_35^0-temp_35^post3 == 0), cost: 1
New rule:
l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (x_SLAM_f_18^0-head_14^0 == 0 /\ -y_19^0+ct_17^0 == 0 /\ head_14^0-x_16^0 == 0 /\ ct_17^0 == 0), cost: 1

Applied preprocessing
Original rule:
l5 -> l6 : __disjvr_0^0'=__disjvr_0^post4, a_215^0'=a_215^post4, x_SLAM_f_18^0'=x_SLAM_f_18^post4, __disjvr_21^0'=__disjvr_21^post4, __disjvr_3^0'=__disjvr_3^post4, result_11^0'=result_11^post4, __disjvr_14^0'=__disjvr_14^post4, head_129^0'=head_129^post4, __disjvr_24^0'=__disjvr_24^post4, len_183^0'=len_183^post4, __disjvr_8^0'=__disjvr_8^post4, a_116^0'=a_116^post4, tmp_34^0'=tmp_34^post4, __disjvr_19^0'=__disjvr_19^post4, head_SLAM_f_26^0'=head_SLAM_f_26^post4, __disjvr_29^0'=__disjvr_29^post4, r_39^0'=r_39^post4, __disjvr_11^0'=__disjvr_11^post4, a_260^0'=a_260^post4, i_30^0'=i_30^post4, __disjvr_5^0'=__disjvr_5^post4, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post4, __disjvr_16^0'=__disjvr_16^post4, head_175^0'=head_175^post4, __disjvr_26^0'=__disjvr_26^post4, nondet_12^0'=nondet_12^post4, a_184^0'=a_184^post4, x_20^0'=x_20^post4, __disjvr_20^0'=__disjvr_20^post4, i_167^0'=i_167^post4, __disjvr_30^0'=__disjvr_30^post4, rcd_88^0'=rcd_88^post4, __disjvr_13^0'=__disjvr_13^post4, f_170^0'=f_170^post4, __disjvr_23^0'=__disjvr_23^post4, len_132^0'=len_132^post4, __disjvr_7^0'=__disjvr_7^post4, temp0_15^0'=temp0_15^post4, temp_35^0'=temp_35^post4, __disjvr_18^0'=__disjvr_18^post4, head_32^0'=head_32^post4, __disjvr_28^0'=__disjvr_28^post4, r_163^0'=r_163^post4, __disjvr_10^0'=__disjvr_10^post4, a_237^0'=a_237^post4, y_19^0'=y_19^post4, __disjvr_22^0'=__disjvr_22^post4, __disjvr_4^0'=__disjvr_4^post4, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4, __disjvr_15^0'=__disjvr_15^post4, head_14^0'=head_14^post4, __disjvr_25^0'=__disjvr_25^post4, length_29^0'=length_29^post4, __disjvr_9^0'=__disjvr_9^post4, a_147^0'=a_147^post4, x_16^0'=x_16^post4, __disjvr_1^0'=__disjvr_1^post4, i_108^0'=i_108^post4, __disjvr_2^0'=__disjvr_2^post4, rcd_58^0'=rcd_58^post4, __disjvr_12^0'=__disjvr_12^post4, ct_17^0'=ct_17^post4, i_94^0'=i_94^post4, __disjvr_6^0'=__disjvr_6^post4, t_23^0'=t_23^post4, temp0_31^0'=temp0_31^post4, __disjvr_17^0'=__disjvr_17^post4, head_27^0'=head_27^post4, __disjvr_27^0'=__disjvr_27^post4, r_124^0'=r_124^post4, (a_116^0-a_116^post4 == 0 /\ tmp_34^0-tmp_34^post4 == 0 /\ -__disjvr_1^post4+__disjvr_1^0 == 0 /\ __disjvr_0^0-__disjvr_0^post4 == 0 /\ -a_260^post4+a_260^0 == 0 /\ a_147^0-a_147^post4 == 0 /\ -r_163^post4+r_163^0 == 0 /\ -length_29^post4+length_29^0 == 0 /\ result_11^0-result_11^post4 == 0 /\ -head_14^post4+head_14^0 == 0 /\ -__disjvr_27^post4+__disjvr_27^0 == 0 /\ __disjvr_28^0-__disjvr_28^post4 == 0 /\ __disjvr_7^0-__disjvr_7^post4 == 0 /\ -t_23^post4+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post4 == 0 /\ __disjvr_9^0-__disjvr_9^post4 == 0 /\ -rcd_58^post4+rcd_58^0 == 0 /\ -i_94^post4+i_94^0 == 0 /\ __disjvr_26^0-__disjvr_26^post4 == 0 /\ -y_19^post4+y_19^0 == 0 /\ -__disjvr_17^post4+__disjvr_17^0 == 0 /\ __disjvr_1^post4-__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post4 == 0 /\ -x_16^post4+x_16^0 == 0 /\ -__disjvr_15^post4+__disjvr_15^0 == 0 /\ __disjvr_30^0-__disjvr_30^post4 == 0 /\ __disjvr_5^0-__disjvr_5^post4 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post4+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_14^0-__disjvr_14^post4 == 0 /\ -__disjvr_10^post4+__disjvr_10^0 == 0 /\ __disjvr_13^0-__disjvr_13^post4 == 0 /\ -__disjvr_6^post4+__disjvr_6^0 == 0 /\ head_32^0-head_32^post4 == 0 /\ __disjvr_11^0-__disjvr_11^post4 == 0 /\ -temp_35^post4+temp_35^0 == 0 /\ a_184^0-a_184^post4 == 0 /\ __disjvr_21^0-__disjvr_21^post4 == 0 /\ -__disjvr_23^post4+__disjvr_23^0 == 0 /\ a_215^0-a_215^post4 == 0 /\ __disjvr_16^0-__disjvr_16^post4 == 0 /\ -temp0_31^post4+temp0_31^0 == 0 /\ __disjvr_29^0-__disjvr_29^post4 == 0 /\ -temp0_15^post4+temp0_15^0 == 0 /\ -r_39^post4+r_39^0 == 0 /\ -head_27^post4+head_27^0 == 0 /\ -__disjvr_24^post4+__disjvr_24^0 == 0 /\ -__disjvr_18^post4+__disjvr_18^0 == 0 /\ -i_108^post4+i_108^0 == 0 /\ i_30^0-i_30^post4 == 0 /\ -__disjvr_12^post4+__disjvr_12^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post4+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_175^0-head_175^post4 == 0 /\ i_167^0-i_167^post4 == 0 /\ __disjvr_8^0-__disjvr_8^post4 == 0 /\ __disjvr_22^0-__disjvr_22^post4 == 0 /\ -__disjvr_4^post4+__disjvr_4^0 == 0 /\ len_183^0-len_183^post4 == 0 /\ -r_124^post4+r_124^0 == 0 /\ -__disjvr_25^post4+__disjvr_25^0 == 0 /\ len_132^0-len_132^post4 == 0 /\ -nondet_12^post4+nondet_12^0 == 0 /\ a_237^0-a_237^post4 == 0 /\ -__disjvr_2^post4+__disjvr_2^0 == 0 /\ -rcd_88^post4+rcd_88^0 == 0 /\ f_170^0-f_170^post4 == 0 /\ -ct_17^post4+ct_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post4 == 0 /\ __disjvr_20^0-__disjvr_20^post4 == 0 /\ head_129^0-head_129^post4 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post4 == 0 /\ -x_20^post4+x_20^0 == 0), cost: 1
New rule:
l5 -> l6 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l6 -> l7 : __disjvr_0^0'=__disjvr_0^post5, a_215^0'=a_215^post5, x_SLAM_f_18^0'=x_SLAM_f_18^post5, __disjvr_21^0'=__disjvr_21^post5, __disjvr_3^0'=__disjvr_3^post5, result_11^0'=result_11^post5, __disjvr_14^0'=__disjvr_14^post5, head_129^0'=head_129^post5, __disjvr_24^0'=__disjvr_24^post5, len_183^0'=len_183^post5, __disjvr_8^0'=__disjvr_8^post5, a_116^0'=a_116^post5, tmp_34^0'=tmp_34^post5, __disjvr_19^0'=__disjvr_19^post5, head_SLAM_f_26^0'=head_SLAM_f_26^post5, __disjvr_29^0'=__disjvr_29^post5, r_39^0'=r_39^post5, __disjvr_11^0'=__disjvr_11^post5, a_260^0'=a_260^post5, i_30^0'=i_30^post5, __disjvr_5^0'=__disjvr_5^post5, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post5, __disjvr_16^0'=__disjvr_16^post5, head_175^0'=head_175^post5, __disjvr_26^0'=__disjvr_26^post5, nondet_12^0'=nondet_12^post5, a_184^0'=a_184^post5, x_20^0'=x_20^post5, __disjvr_20^0'=__disjvr_20^post5, i_167^0'=i_167^post5, __disjvr_30^0'=__disjvr_30^post5, rcd_88^0'=rcd_88^post5, __disjvr_13^0'=__disjvr_13^post5, f_170^0'=f_170^post5, __disjvr_23^0'=__disjvr_23^post5, len_132^0'=len_132^post5, __disjvr_7^0'=__disjvr_7^post5, temp0_15^0'=temp0_15^post5, temp_35^0'=temp_35^post5, __disjvr_18^0'=__disjvr_18^post5, head_32^0'=head_32^post5, __disjvr_28^0'=__disjvr_28^post5, r_163^0'=r_163^post5, __disjvr_10^0'=__disjvr_10^post5, a_237^0'=a_237^post5, y_19^0'=y_19^post5, __disjvr_22^0'=__disjvr_22^post5, __disjvr_4^0'=__disjvr_4^post5, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5, __disjvr_15^0'=__disjvr_15^post5, head_14^0'=head_14^post5, __disjvr_25^0'=__disjvr_25^post5, length_29^0'=length_29^post5, __disjvr_9^0'=__disjvr_9^post5, a_147^0'=a_147^post5, x_16^0'=x_16^post5, __disjvr_1^0'=__disjvr_1^post5, i_108^0'=i_108^post5, __disjvr_2^0'=__disjvr_2^post5, rcd_58^0'=rcd_58^post5, __disjvr_12^0'=__disjvr_12^post5, ct_17^0'=ct_17^post5, i_94^0'=i_94^post5, __disjvr_6^0'=__disjvr_6^post5, t_23^0'=t_23^post5, temp0_31^0'=temp0_31^post5, __disjvr_17^0'=__disjvr_17^post5, head_27^0'=head_27^post5, __disjvr_27^0'=__disjvr_27^post5, r_124^0'=r_124^post5, (-__disjvr_9^post5+__disjvr_9^0 == 0 /\ __disjvr_14^0-__disjvr_14^post5 == 0 /\ __disjvr_4^0-__disjvr_4^post5 == 0 /\ len_183^0-len_183^post5 == 0 /\ temp0_15^0-temp0_15^post5 == 0 /\ -i_167^post5+i_167^0 == 0 /\ -temp0_31^post5+temp0_31^0 == 0 /\ __disjvr_5^0-__disjvr_5^post5 == 0 /\ __disjvr_2^0-__disjvr_2^post5 == 0 /\ f_170^0-f_170^post5 == 0 /\ __disjvr_10^0-__disjvr_10^post5 == 0 /\ -i_108^post5+i_108^0 == 0 /\ nondet_12^0-nondet_12^post5 == 0 /\ -__disjvr_12^post5+__disjvr_12^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post5 == 0 /\ __disjvr_21^0-__disjvr_21^post5 == 0 /\ a_215^0-a_215^post5 == 0 /\ -head_27^post5+head_27^0 == 0 /\ -len_132^post5+len_132^0 == 0 /\ -a_237^post5+a_237^0 == 0 /\ -__disjvr_25^post5+__disjvr_25^0 == 0 /\ a_116^0-a_116^post5 == 0 /\ __disjvr_18^0-__disjvr_18^post5 == 0 /\ result_11^0-result_11^post5 == 0 /\ -r_124^post5+r_124^0 == 0 /\ -__disjvr_22^post5+__disjvr_22^0 == 0 /\ __disjvr_24^0-__disjvr_24^post5 == 0 /\ -__disjvr_2^0+__disjvr_2^post5 == 0 /\ i_30^0-i_30^post5 == 0 /\ -__disjvr_13^post5+__disjvr_13^0 == 0 /\ head_175^0-head_175^post5 == 0 /\ r_39^0-r_39^post5 == 0 /\ -rcd_88^post5+rcd_88^0 == 0 /\ -ct_17^post5+ct_17^0 == 0 /\ -__disjvr_28^post5+__disjvr_28^0 == 0 /\ -i_94^post5+i_94^0 == 0 /\ -head_14^post5+head_14^0 == 0 /\ __disjvr_26^0-__disjvr_26^post5 == 0 /\ -__disjvr_27^post5+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post5+head_SLAM_f_26^0 == 0 /\ temp_35^0-temp_35^post5 == 0 /\ -length_29^post5+length_29^0 == 0 /\ -a_147^post5+a_147^0 == 0 /\ head_129^0-head_129^post5 == 0 /\ -t_23^post5+t_23^0 == 0 /\ -r_163^post5+r_163^0 == 0 /\ __disjvr_11^0-__disjvr_11^post5 == 0 /\ -rcd_58^post5+rcd_58^0 == 0 /\ __disjvr_20^0-__disjvr_20^post5 == 0 /\ __disjvr_19^0-__disjvr_19^post5 == 0 /\ a_260^0-a_260^post5 == 0 /\ -head_32^post5+head_32^0 == 0 /\ -x_16^post5+x_16^0 == 0 /\ __disjvr_23^0-__disjvr_23^post5 == 0 /\ x_20^0-x_20^post5 == 0 /\ -__disjvr_30^post5+__disjvr_30^0 == 0 /\ __disjvr_0^0-__disjvr_0^post5 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post5 == 0 /\ -__disjvr_15^post5+__disjvr_15^0 == 0 /\ -__disjvr_16^post5+__disjvr_16^0 == 0 /\ -__disjvr_17^post5+__disjvr_17^0 == 0 /\ __disjvr_29^0-__disjvr_29^post5 == 0 /\ -__disjvr_6^post5+__disjvr_6^0 == 0 /\ y_19^0-y_19^post5 == 0 /\ -a_184^post5+a_184^0 == 0 /\ __disjvr_3^0-__disjvr_3^post5 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post5 == 0 /\ -__disjvr_1^post5+__disjvr_1^0 == 0 /\ tmp_34^0-tmp_34^post5 == 0 /\ __disjvr_7^0-__disjvr_7^post5 == 0 /\ -__disjvr_8^post5+__disjvr_8^0 == 0), cost: 1
New rule:
l6 -> l7 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l7 -> l8 : __disjvr_0^0'=__disjvr_0^post6, a_215^0'=a_215^post6, x_SLAM_f_18^0'=x_SLAM_f_18^post6, __disjvr_21^0'=__disjvr_21^post6, __disjvr_3^0'=__disjvr_3^post6, result_11^0'=result_11^post6, __disjvr_14^0'=__disjvr_14^post6, head_129^0'=head_129^post6, __disjvr_24^0'=__disjvr_24^post6, len_183^0'=len_183^post6, __disjvr_8^0'=__disjvr_8^post6, a_116^0'=a_116^post6, tmp_34^0'=tmp_34^post6, __disjvr_19^0'=__disjvr_19^post6, head_SLAM_f_26^0'=head_SLAM_f_26^post6, __disjvr_29^0'=__disjvr_29^post6, r_39^0'=r_39^post6, __disjvr_11^0'=__disjvr_11^post6, a_260^0'=a_260^post6, i_30^0'=i_30^post6, __disjvr_5^0'=__disjvr_5^post6, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post6, __disjvr_16^0'=__disjvr_16^post6, head_175^0'=head_175^post6, __disjvr_26^0'=__disjvr_26^post6, nondet_12^0'=nondet_12^post6, a_184^0'=a_184^post6, x_20^0'=x_20^post6, __disjvr_20^0'=__disjvr_20^post6, i_167^0'=i_167^post6, __disjvr_30^0'=__disjvr_30^post6, rcd_88^0'=rcd_88^post6, __disjvr_13^0'=__disjvr_13^post6, f_170^0'=f_170^post6, __disjvr_23^0'=__disjvr_23^post6, len_132^0'=len_132^post6, __disjvr_7^0'=__disjvr_7^post6, temp0_15^0'=temp0_15^post6, temp_35^0'=temp_35^post6, __disjvr_18^0'=__disjvr_18^post6, head_32^0'=head_32^post6, __disjvr_28^0'=__disjvr_28^post6, r_163^0'=r_163^post6, __disjvr_10^0'=__disjvr_10^post6, a_237^0'=a_237^post6, y_19^0'=y_19^post6, __disjvr_22^0'=__disjvr_22^post6, __disjvr_4^0'=__disjvr_4^post6, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6, __disjvr_15^0'=__disjvr_15^post6, head_14^0'=head_14^post6, __disjvr_25^0'=__disjvr_25^post6, length_29^0'=length_29^post6, __disjvr_9^0'=__disjvr_9^post6, a_147^0'=a_147^post6, x_16^0'=x_16^post6, __disjvr_1^0'=__disjvr_1^post6, i_108^0'=i_108^post6, __disjvr_2^0'=__disjvr_2^post6, rcd_58^0'=rcd_58^post6, __disjvr_12^0'=__disjvr_12^post6, ct_17^0'=ct_17^post6, i_94^0'=i_94^post6, __disjvr_6^0'=__disjvr_6^post6, t_23^0'=t_23^post6, temp0_31^0'=temp0_31^post6, __disjvr_17^0'=__disjvr_17^post6, head_27^0'=head_27^post6, __disjvr_27^0'=__disjvr_27^post6, r_124^0'=r_124^post6, (-__disjvr_23^post6+__disjvr_23^0 == 0 /\ -i_94^post6+i_94^0 == 0 /\ x_16^0-x_16^post6 == 0 /\ -__disjvr_27^post6+__disjvr_27^0 == 0 /\ -__disjvr_20^post6+__disjvr_20^0 == 0 /\ __disjvr_28^0-__disjvr_28^post6 == 0 /\ __disjvr_16^0-__disjvr_16^post6 == 0 /\ -t_23^post6+t_23^0 == 0 /\ -__disjvr_5^post6+__disjvr_5^0 == 0 /\ __disjvr_9^0-__disjvr_9^post6 == 0 /\ -__disjvr_1^post6+__disjvr_1^0 == 0 /\ __disjvr_3^0-__disjvr_3^post6 == 0 /\ i_30^0-i_30^post6 == 0 /\ i_167^0-i_167^post6 == 0 /\ -r_163^post6+r_163^0 == 0 /\ __disjvr_8^0-__disjvr_8^post6 == 0 /\ -a_147^post6+a_147^0 == 0 /\ -head_32^post6+head_32^0 == 0 /\ -rcd_58^post6+rcd_58^0 == 0 /\ -head_27^post6+head_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post6 == 0 /\ -f_170^post6+f_170^0 == 0 /\ __disjvr_14^0-__disjvr_14^post6 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post6 == 0 /\ -__disjvr_30^post6+__disjvr_30^0 == 0 /\ -y_19^post6+y_19^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post6+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_17^post6+__disjvr_17^0 == 0 /\ -__disjvr_7^post6+__disjvr_7^0 == 0 /\ -__disjvr_6^post6+__disjvr_6^0 == 0 /\ -__disjvr_15^post6+__disjvr_15^0 == 0 /\ rcd_88^0-rcd_88^post6 == 0 /\ -__disjvr_3^0+__disjvr_3^post6 == 0 /\ __disjvr_13^0-__disjvr_13^post6 == 0 /\ -__disjvr_10^post6+__disjvr_10^0 == 0 /\ a_260^0-a_260^post6 == 0 /\ nondet_12^0-nondet_12^post6 == 0 /\ -a_116^post6+a_116^0 == 0 /\ __disjvr_0^0-__disjvr_0^post6 == 0 /\ -__disjvr_29^post6+__disjvr_29^0 == 0 /\ -__disjvr_26^post6+__disjvr_26^0 == 0 /\ a_215^0-a_215^post6 == 0 /\ __disjvr_18^0-__disjvr_18^post6 == 0 /\ __disjvr_24^0-__disjvr_24^post6 == 0 /\ head_175^0-head_175^post6 == 0 /\ -temp0_15^post6+temp0_15^0 == 0 /\ result_11^0-result_11^post6 == 0 /\ -__disjvr_19^post6+__disjvr_19^0 == 0 /\ len_132^0-len_132^post6 == 0 /\ -__disjvr_12^post6+__disjvr_12^0 == 0 /\ -i_108^post6+i_108^0 == 0 /\ r_39^0-r_39^post6 == 0 /\ -temp_35^post6+temp_35^0 == 0 /\ -__disjvr_4^post6+__disjvr_4^0 == 0 /\ tmp_34^0-tmp_34^post6 == 0 /\ temp0_31^0-temp0_31^post6 == 0 /\ len_183^0-len_183^post6 == 0 /\ -r_124^post6+r_124^0 == 0 /\ -__disjvr_25^post6+__disjvr_25^0 == 0 /\ -__disjvr_22^post6+__disjvr_22^0 == 0 /\ __disjvr_11^0-__disjvr_11^post6 == 0 /\ head_14^0-head_14^post6 == 0 /\ head_129^0-head_129^post6 == 0 /\ -x_20^post6+x_20^0 == 0 /\ length_29^0-length_29^post6 == 0 /\ -__disjvr_2^post6+__disjvr_2^0 == 0 /\ -ct_17^post6+ct_17^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post6 == 0 /\ a_184^0-a_184^post6 == 0 /\ a_237^0-a_237^post6 == 0 /\ __disjvr_21^0-__disjvr_21^post6 == 0), cost: 1
New rule:
l7 -> l8 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l8 -> l2 : __disjvr_0^0'=__disjvr_0^post7, a_215^0'=a_215^post7, x_SLAM_f_18^0'=x_SLAM_f_18^post7, __disjvr_21^0'=__disjvr_21^post7, __disjvr_3^0'=__disjvr_3^post7, result_11^0'=result_11^post7, __disjvr_14^0'=__disjvr_14^post7, head_129^0'=head_129^post7, __disjvr_24^0'=__disjvr_24^post7, len_183^0'=len_183^post7, __disjvr_8^0'=__disjvr_8^post7, a_116^0'=a_116^post7, tmp_34^0'=tmp_34^post7, __disjvr_19^0'=__disjvr_19^post7, head_SLAM_f_26^0'=head_SLAM_f_26^post7, __disjvr_29^0'=__disjvr_29^post7, r_39^0'=r_39^post7, __disjvr_11^0'=__disjvr_11^post7, a_260^0'=a_260^post7, i_30^0'=i_30^post7, __disjvr_5^0'=__disjvr_5^post7, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post7, __disjvr_16^0'=__disjvr_16^post7, head_175^0'=head_175^post7, __disjvr_26^0'=__disjvr_26^post7, nondet_12^0'=nondet_12^post7, a_184^0'=a_184^post7, x_20^0'=x_20^post7, __disjvr_20^0'=__disjvr_20^post7, i_167^0'=i_167^post7, __disjvr_30^0'=__disjvr_30^post7, rcd_88^0'=rcd_88^post7, __disjvr_13^0'=__disjvr_13^post7, f_170^0'=f_170^post7, __disjvr_23^0'=__disjvr_23^post7, len_132^0'=len_132^post7, __disjvr_7^0'=__disjvr_7^post7, temp0_15^0'=temp0_15^post7, temp_35^0'=temp_35^post7, __disjvr_18^0'=__disjvr_18^post7, head_32^0'=head_32^post7, __disjvr_28^0'=__disjvr_28^post7, r_163^0'=r_163^post7, __disjvr_10^0'=__disjvr_10^post7, a_237^0'=a_237^post7, y_19^0'=y_19^post7, __disjvr_22^0'=__disjvr_22^post7, __disjvr_4^0'=__disjvr_4^post7, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7, __disjvr_15^0'=__disjvr_15^post7, head_14^0'=head_14^post7, __disjvr_25^0'=__disjvr_25^post7, length_29^0'=length_29^post7, __disjvr_9^0'=__disjvr_9^post7, a_147^0'=a_147^post7, x_16^0'=x_16^post7, __disjvr_1^0'=__disjvr_1^post7, i_108^0'=i_108^post7, __disjvr_2^0'=__disjvr_2^post7, rcd_58^0'=rcd_58^post7, __disjvr_12^0'=__disjvr_12^post7, ct_17^0'=ct_17^post7, i_94^0'=i_94^post7, __disjvr_6^0'=__disjvr_6^post7, t_23^0'=t_23^post7, temp0_31^0'=temp0_31^post7, __disjvr_17^0'=__disjvr_17^post7, head_27^0'=head_27^post7, __disjvr_27^0'=__disjvr_27^post7, r_124^0'=r_124^post7, (0 == 0 /\ -i_167^post7+i_167^0 == 0 /\ -__disjvr_13^post7+__disjvr_13^0 == 0 /\ -temp0_31^post7+temp0_31^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post7 == 0 /\ __disjvr_5^0-__disjvr_5^post7 == 0 /\ temp_35^0-temp_35^post7 == 0 /\ -temp0_15^post7+temp0_15^0 == 0 /\ __disjvr_26^0-__disjvr_26^post7 == 0 /\ __disjvr_22^0-__disjvr_22^post7 == 0 /\ head_32^0-head_32^post7 == 0 /\ -i_108^post7+i_108^0 == 0 /\ __disjvr_11^0-__disjvr_11^post7 == 0 /\ r_163^0-r_163^post7 == 0 /\ __disjvr_4^0-__disjvr_4^post7 == 0 /\ head_129^0-head_129^post7 == 0 /\ -__disjvr_12^post7+__disjvr_12^0 == 0 /\ -x_16^post7+x_16^0 == 0 /\ a_260^0-a_260^post7 == 0 /\ a_260^0-a_237^post7 <= 0 /\ a_147^0-a_147^post7 == 0 /\ __disjvr_20^0-__disjvr_20^post7 == 0 /\ -__disjvr_18^post7+__disjvr_18^0 == 0 /\ a_215^0-a_215^post7 == 0 /\ -nondet_12^post7+nondet_12^0 == 0 /\ __disjvr_16^0-__disjvr_16^post7 == 0 /\ f_170^0-f_170^post7 == 0 /\ __disjvr_29^0-__disjvr_29^post7 == 0 /\ -ct_17^post7+ct_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post7 == 0 /\ -a_260^0+a_237^post7 <= 0 /\ -__disjvr_9^post7+__disjvr_9^0 == 0 /\ -rcd_88^post7+rcd_88^0 == 0 /\ __disjvr_7^0-__disjvr_7^post7 == 0 /\ __disjvr_14^0-__disjvr_14^post7 == 0 /\ -__disjvr_1^post7+__disjvr_1^0 == 0 /\ -length_29^post7+length_29^0 == 0 /\ len_183^0-len_183^post7 == 0 /\ -__disjvr_28^post7+__disjvr_28^0 == 0 /\ -__disjvr_2^post7+__disjvr_2^0 == 0 /\ i_94^0-i_94^post7 == 0 /\ -__disjvr_27^post7+__disjvr_27^0 == 0 /\ -head_SLAM_f_26^post7+head_SLAM_f_26^0 == 0 /\ -r_124^post7+r_124^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_19^0-__disjvr_19^post7 == 0 /\ t_23^0-t_23^post7 == 0 /\ __disjvr_21^0-__disjvr_21^post7 == 0 /\ -tmp_34^post7+tmp_34^0 == 0 /\ -len_132^post7+len_132^0 == 0 /\ -rcd_58^post7+rcd_58^0 == 0 /\ -head_14^post7+head_14^0 == 0 /\ a_116^0-a_116^post7 == 0 /\ -head_175^post7+head_175^0 == 0 /\ -head_27^post7+head_27^0 == 0 /\ -__disjvr_17^post7+__disjvr_17^0 == 0 /\ __disjvr_25^0-__disjvr_25^post7 == 0 /\ -y_19^post7+y_19^0 == 0 /\ -__disjvr_6^post7+__disjvr_6^0 == 0 /\ x_20^0-x_20^post7 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post7+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -a_184^post7+a_184^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_24^0-__disjvr_24^post7 == 0 /\ result_11^0-result_11^post7 == 0 /\ -r_39^post7+r_39^0 == 0 /\ -__disjvr_30^post7+__disjvr_30^0 == 0 /\ -__disjvr_15^post7+__disjvr_15^0 == 0 /\ __disjvr_3^0-__disjvr_3^post7 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post7+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ i_30^0-i_30^post7 == 0 /\ -__disjvr_10^post7+__disjvr_10^0 == 0 /\ __disjvr_0^0-__disjvr_0^post7 == 0 /\ __disjvr_23^0-__disjvr_23^post7 == 0), cost: 1
New rule:
l8 -> l2 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l2 -> l0 : __disjvr_0^0'=__disjvr_0^post8, a_215^0'=a_215^post8, x_SLAM_f_18^0'=x_SLAM_f_18^post8, __disjvr_21^0'=__disjvr_21^post8, __disjvr_3^0'=__disjvr_3^post8, result_11^0'=result_11^post8, __disjvr_14^0'=__disjvr_14^post8, head_129^0'=head_129^post8, __disjvr_24^0'=__disjvr_24^post8, len_183^0'=len_183^post8, __disjvr_8^0'=__disjvr_8^post8, a_116^0'=a_116^post8, tmp_34^0'=tmp_34^post8, __disjvr_19^0'=__disjvr_19^post8, head_SLAM_f_26^0'=head_SLAM_f_26^post8, __disjvr_29^0'=__disjvr_29^post8, r_39^0'=r_39^post8, __disjvr_11^0'=__disjvr_11^post8, a_260^0'=a_260^post8, i_30^0'=i_30^post8, __disjvr_5^0'=__disjvr_5^post8, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post8, __disjvr_16^0'=__disjvr_16^post8, head_175^0'=head_175^post8, __disjvr_26^0'=__disjvr_26^post8, nondet_12^0'=nondet_12^post8, a_184^0'=a_184^post8, x_20^0'=x_20^post8, __disjvr_20^0'=__disjvr_20^post8, i_167^0'=i_167^post8, __disjvr_30^0'=__disjvr_30^post8, rcd_88^0'=rcd_88^post8, __disjvr_13^0'=__disjvr_13^post8, f_170^0'=f_170^post8, __disjvr_23^0'=__disjvr_23^post8, len_132^0'=len_132^post8, __disjvr_7^0'=__disjvr_7^post8, temp0_15^0'=temp0_15^post8, temp_35^0'=temp_35^post8, __disjvr_18^0'=__disjvr_18^post8, head_32^0'=head_32^post8, __disjvr_28^0'=__disjvr_28^post8, r_163^0'=r_163^post8, __disjvr_10^0'=__disjvr_10^post8, a_237^0'=a_237^post8, y_19^0'=y_19^post8, __disjvr_22^0'=__disjvr_22^post8, __disjvr_4^0'=__disjvr_4^post8, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8, __disjvr_15^0'=__disjvr_15^post8, head_14^0'=head_14^post8, __disjvr_25^0'=__disjvr_25^post8, length_29^0'=length_29^post8, __disjvr_9^0'=__disjvr_9^post8, a_147^0'=a_147^post8, x_16^0'=x_16^post8, __disjvr_1^0'=__disjvr_1^post8, i_108^0'=i_108^post8, __disjvr_2^0'=__disjvr_2^post8, rcd_58^0'=rcd_58^post8, __disjvr_12^0'=__disjvr_12^post8, ct_17^0'=ct_17^post8, i_94^0'=i_94^post8, __disjvr_6^0'=__disjvr_6^post8, t_23^0'=t_23^post8, temp0_31^0'=temp0_31^post8, __disjvr_17^0'=__disjvr_17^post8, head_27^0'=head_27^post8, __disjvr_27^0'=__disjvr_27^post8, r_124^0'=r_124^post8, (a_215^0-a_215^post8 == 0 /\ __disjvr_18^0-__disjvr_18^post8 == 0 /\ -__disjvr_2^post8+__disjvr_2^0 == 0 /\ -__disjvr_20^post8+__disjvr_20^0 == 0 /\ -__disjvr_28^post8+__disjvr_28^0 == 0 /\ -length_29^post8+length_29^0 == 0 /\ -__disjvr_1^post8+__disjvr_1^0 == 0 /\ __disjvr_10^0-__disjvr_10^post8 == 0 /\ -__disjvr_27^post8+__disjvr_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post8 == 0 /\ head_175^0-head_175^post8 == 0 /\ -t_23^post8+t_23^0 == 0 /\ i_30^0-i_30^post8 == 0 /\ len_132^0-len_132^post8 == 0 /\ -rcd_58^post8+rcd_58^0 == 0 /\ y_19^0-y_19^post8 == 0 /\ tmp_34^0-tmp_34^post8 == 0 /\ -i_94^post8+i_94^0 == 0 /\ -head_14^post8+head_14^0 == 0 /\ -a_147^post8+a_147^0 == 0 /\ __disjvr_23^0-__disjvr_23^post8 == 0 /\ -__disjvr_17^post8+__disjvr_17^0 == 0 /\ r_39^0-r_39^post8 == 0 /\ -head_32^post8+head_32^0 == 0 /\ -__disjvr_6^post8+__disjvr_6^0 == 0 /\ __disjvr_12^0-__disjvr_12^post8 == 0 /\ -head_27^post8+head_27^0 == 0 /\ -r_163^post8+r_163^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post8 == 0 /\ -__disjvr_30^post8+__disjvr_30^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post8+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post8 == 0 /\ head_129^0-head_129^post8 == 0 /\ -f_170^post8+f_170^0 == 0 /\ __disjvr_21^0-__disjvr_21^post8 == 0 /\ i_108^0-i_108^post8 == 0 /\ -__disjvr_8^post8+__disjvr_8^0 == 0 /\ __disjvr_16^0-__disjvr_16^post8 == 0 /\ a_116^0-a_116^post8 == 0 /\ __disjvr_0^0-__disjvr_0^post8 == 0 /\ -__disjvr_19^post8+__disjvr_19^0 == 0 /\ x_20^0-x_20^post8 == 0 /\ result_11^0-result_11^post8 == 0 /\ nondet_12^0-nondet_12^post8 == 0 /\ __disjvr_29^0-__disjvr_29^post8 == 0 /\ __disjvr_11^0-__disjvr_11^post8 == 0 /\ -temp0_31^post8+temp0_31^0 == 0 /\ -__disjvr_4^post8+__disjvr_4^0 == 0 /\ -temp_35^post8+temp_35^0 == 0 /\ i_167^0-i_167^post8 == 0 /\ -x_16^post8+x_16^0 == 0 /\ __disjvr_3^0-__disjvr_3^post8 == 0 /\ -a_237^post8+a_237^0 == 0 /\ -__disjvr_7^post8+__disjvr_7^0 == 0 /\ -len_183^post8+len_183^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post8 == 0 /\ -ct_17^post8+ct_17^0 == 0 /\ __disjvr_5^0-__disjvr_5^post8 == 0 /\ rcd_88^0-rcd_88^post8 == 0 /\ -r_124^post8+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post8 == 0 /\ -__disjvr_26^post8+__disjvr_26^0 == 0 /\ __disjvr_15^0-__disjvr_15^post8 == 0 /\ -__disjvr_22^post8+__disjvr_22^0 == 0 /\ temp0_15^0-temp0_15^post8 == 0 /\ a_184^0-a_184^post8 == 0 /\ -__disjvr_9^post8+__disjvr_9^0 == 0 /\ a_260^0-a_260^post8 == 0 /\ __disjvr_13^0-__disjvr_13^post8 == 0 /\ -__disjvr_25^post8+__disjvr_25^0 == 0), cost: 1
New rule:
l2 -> l0 : TRUE, cost: 1

Applied preprocessing
Original rule:
l18 -> l19 : __disjvr_0^0'=__disjvr_0^post19, a_215^0'=a_215^post19, x_SLAM_f_18^0'=x_SLAM_f_18^post19, __disjvr_21^0'=__disjvr_21^post19, __disjvr_3^0'=__disjvr_3^post19, result_11^0'=result_11^post19, __disjvr_14^0'=__disjvr_14^post19, head_129^0'=head_129^post19, __disjvr_24^0'=__disjvr_24^post19, len_183^0'=len_183^post19, __disjvr_8^0'=__disjvr_8^post19, a_116^0'=a_116^post19, tmp_34^0'=tmp_34^post19, __disjvr_19^0'=__disjvr_19^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post19, __disjvr_29^0'=__disjvr_29^post19, r_39^0'=r_39^post19, __disjvr_11^0'=__disjvr_11^post19, a_260^0'=a_260^post19, i_30^0'=i_30^post19, __disjvr_5^0'=__disjvr_5^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, __disjvr_16^0'=__disjvr_16^post19, head_175^0'=head_175^post19, __disjvr_26^0'=__disjvr_26^post19, nondet_12^0'=nondet_12^post19, a_184^0'=a_184^post19, x_20^0'=x_20^post19, __disjvr_20^0'=__disjvr_20^post19, i_167^0'=i_167^post19, __disjvr_30^0'=__disjvr_30^post19, rcd_88^0'=rcd_88^post19, __disjvr_13^0'=__disjvr_13^post19, f_170^0'=f_170^post19, __disjvr_23^0'=__disjvr_23^post19, len_132^0'=len_132^post19, __disjvr_7^0'=__disjvr_7^post19, temp0_15^0'=temp0_15^post19, temp_35^0'=temp_35^post19, __disjvr_18^0'=__disjvr_18^post19, head_32^0'=head_32^post19, __disjvr_28^0'=__disjvr_28^post19, r_163^0'=r_163^post19, __disjvr_10^0'=__disjvr_10^post19, a_237^0'=a_237^post19, y_19^0'=y_19^post19, __disjvr_22^0'=__disjvr_22^post19, __disjvr_4^0'=__disjvr_4^post19, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19, __disjvr_15^0'=__disjvr_15^post19, head_14^0'=head_14^post19, __disjvr_25^0'=__disjvr_25^post19, length_29^0'=length_29^post19, __disjvr_9^0'=__disjvr_9^post19, a_147^0'=a_147^post19, x_16^0'=x_16^post19, __disjvr_1^0'=__disjvr_1^post19, i_108^0'=i_108^post19, __disjvr_2^0'=__disjvr_2^post19, rcd_58^0'=rcd_58^post19, __disjvr_12^0'=__disjvr_12^post19, ct_17^0'=ct_17^post19, i_94^0'=i_94^post19, __disjvr_6^0'=__disjvr_6^post19, t_23^0'=t_23^post19, temp0_31^0'=temp0_31^post19, __disjvr_17^0'=__disjvr_17^post19, head_27^0'=head_27^post19, __disjvr_27^0'=__disjvr_27^post19, r_124^0'=r_124^post19, (0 == 0 /\ result_11^0-result_11^post19 == 0 /\ __disjvr_24^0-__disjvr_24^post19 == 0 /\ -rcd_58^post19+rcd_58^0 == 0 /\ -r_163^post19+r_163^0 == 0 /\ __disjvr_28^0-__disjvr_28^post19 == 0 /\ -head_32^post19+head_32^0 == 0 /\ -a_260^post19+a_260^0 == 0 /\ -__disjvr_23^post19+__disjvr_23^0 == 0 /\ -__disjvr_1^post19+__disjvr_1^0 == 0 /\ __disjvr_9^0-__disjvr_9^post19 == 0 /\ __disjvr_18^0-__disjvr_18^post19 == 0 /\ -__disjvr_5^post19+__disjvr_5^0 == 0 /\ tmp_34^0-tmp_34^post19 == 0 /\ -r_124^post19+r_124^0 == 0 /\ __disjvr_7^0-__disjvr_7^post19 == 0 /\ -__disjvr_25^post19+__disjvr_25^0 == 0 /\ __disjvr_3^0-__disjvr_3^post19 == 0 /\ -__disjvr_20^post19+__disjvr_20^0 == 0 /\ __disjvr_0^0-__disjvr_0^post19 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post19+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ len_183^0-len_183^post19 == 0 /\ __disjvr_14^0-__disjvr_14^post19 == 0 /\ -temp_35^post19+temp_35^0 == 0 /\ -t_23^post19+t_23^0 == 0 /\ -head_27^post19+head_27^0 == 0 /\ __disjvr_26^0-__disjvr_26^post19 == 0 /\ -f_170^post19+f_170^0 == 0 /\ -r_39^post19+r_39^0 == 0 /\ -len_132^0 <= 0 /\ -i_94^post19+i_94^0 == 0 /\ -y_19^post19+y_19^0 == 0 /\ a_184^0-a_184^post19 == 0 /\ __disjvr_13^0-__disjvr_13^post19 == 0 /\ -__disjvr_27^post19+__disjvr_27^0 == 0 /\ -length_29^post19+length_29^0 == 0 /\ __disjvr_21^0-__disjvr_21^post19 == 0 /\ -rcd_88^post19+rcd_88^0 == 0 /\ -__disjvr_6^post19+__disjvr_6^0 == 0 /\ a_116^0-a_116^post19 == 0 /\ -temp0_15^post19+temp0_15^0 == 0 /\ __disjvr_16^0-__disjvr_16^post19 == 0 /\ a_215^0-a_215^post19 == 0 /\ __disjvr_15^0-__disjvr_15^post19 == 0 /\ -__disjvr_12^post19+__disjvr_12^0 == 0 /\ -i_108^post19+i_108^0 == 0 /\ __disjvr_29^0-__disjvr_29^post19 == 0 /\ __disjvr_11^0-__disjvr_11^post19 == 0 /\ __disjvr_30^0-__disjvr_30^post19 == 0 /\ -__disjvr_4^post19+__disjvr_4^0 == 0 /\ head_175^0-head_175^post19 == 0 /\ i_30^0-i_30^post19 == 0 /\ i_167^0-i_167^post19 == 0 /\ -__disjvr_17^post19+__disjvr_17^0 == 0 /\ -a_147^post19+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post19 == 0 /\ __disjvr_8^0-__disjvr_8^post19 == 0 /\ -__disjvr_2^post19+__disjvr_2^0 == 0 /\ len_132^0-len_132^post19 == 0 /\ -x_20^post19+x_20^0 == 0 /\ -a_237^post19+a_237^0 == 0 /\ head_129^0-head_129^post19 == 0 /\ -nondet_12^post19+nondet_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post19 == 0 /\ -temp0_31^post19+temp0_31^0 == 0 /\ __disjvr_19^0-__disjvr_19^post19 == 0 /\ -__disjvr_22^post19+__disjvr_22^0 == 0), cost: 1
New rule:
l18 -> l19 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, len_132^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l19 -> l20 : __disjvr_0^0'=__disjvr_0^post20, a_215^0'=a_215^post20, x_SLAM_f_18^0'=x_SLAM_f_18^post20, __disjvr_21^0'=__disjvr_21^post20, __disjvr_3^0'=__disjvr_3^post20, result_11^0'=result_11^post20, __disjvr_14^0'=__disjvr_14^post20, head_129^0'=head_129^post20, __disjvr_24^0'=__disjvr_24^post20, len_183^0'=len_183^post20, __disjvr_8^0'=__disjvr_8^post20, a_116^0'=a_116^post20, tmp_34^0'=tmp_34^post20, __disjvr_19^0'=__disjvr_19^post20, head_SLAM_f_26^0'=head_SLAM_f_26^post20, __disjvr_29^0'=__disjvr_29^post20, r_39^0'=r_39^post20, __disjvr_11^0'=__disjvr_11^post20, a_260^0'=a_260^post20, i_30^0'=i_30^post20, __disjvr_5^0'=__disjvr_5^post20, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post20, __disjvr_16^0'=__disjvr_16^post20, head_175^0'=head_175^post20, __disjvr_26^0'=__disjvr_26^post20, nondet_12^0'=nondet_12^post20, a_184^0'=a_184^post20, x_20^0'=x_20^post20, __disjvr_20^0'=__disjvr_20^post20, i_167^0'=i_167^post20, __disjvr_30^0'=__disjvr_30^post20, rcd_88^0'=rcd_88^post20, __disjvr_13^0'=__disjvr_13^post20, f_170^0'=f_170^post20, __disjvr_23^0'=__disjvr_23^post20, len_132^0'=len_132^post20, __disjvr_7^0'=__disjvr_7^post20, temp0_15^0'=temp0_15^post20, temp_35^0'=temp_35^post20, __disjvr_18^0'=__disjvr_18^post20, head_32^0'=head_32^post20, __disjvr_28^0'=__disjvr_28^post20, r_163^0'=r_163^post20, __disjvr_10^0'=__disjvr_10^post20, a_237^0'=a_237^post20, y_19^0'=y_19^post20, __disjvr_22^0'=__disjvr_22^post20, __disjvr_4^0'=__disjvr_4^post20, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20, __disjvr_15^0'=__disjvr_15^post20, head_14^0'=head_14^post20, __disjvr_25^0'=__disjvr_25^post20, length_29^0'=length_29^post20, __disjvr_9^0'=__disjvr_9^post20, a_147^0'=a_147^post20, x_16^0'=x_16^post20, __disjvr_1^0'=__disjvr_1^post20, i_108^0'=i_108^post20, __disjvr_2^0'=__disjvr_2^post20, rcd_58^0'=rcd_58^post20, __disjvr_12^0'=__disjvr_12^post20, ct_17^0'=ct_17^post20, i_94^0'=i_94^post20, __disjvr_6^0'=__disjvr_6^post20, t_23^0'=t_23^post20, temp0_31^0'=temp0_31^post20, __disjvr_17^0'=__disjvr_17^post20, head_27^0'=head_27^post20, __disjvr_27^0'=__disjvr_27^post20, r_124^0'=r_124^post20, (x_SLAM_f_18^0-x_SLAM_f_18^post20 == 0 /\ -rcd_88^post20+rcd_88^0 == 0 /\ -__disjvr_13^post20+__disjvr_13^0 == 0 /\ -__disjvr_12^post20+__disjvr_12^0 == 0 /\ __disjvr_14^0-__disjvr_14^post20 == 0 /\ len_183^0-len_183^post20 == 0 /\ temp0_15^0-temp0_15^post20 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post20 == 0 /\ nondet_12^0-nondet_12^post20 == 0 /\ a_237^0-a_237^post20 == 0 /\ -__disjvr_18^post20+__disjvr_18^0 == 0 /\ -__disjvr_9^0+__disjvr_9^post20 == 0 /\ __disjvr_4^0-__disjvr_4^post20 == 0 /\ -__disjvr_17^post20+__disjvr_17^0 == 0 /\ -i_108^post20+i_108^0 == 0 /\ -__disjvr_15^post20+__disjvr_15^0 == 0 /\ -len_132^post20+len_132^0 == 0 /\ -a_147^post20+a_147^0 == 0 /\ a_116^0-a_116^post20 == 0 /\ __disjvr_24^0-__disjvr_24^post20 == 0 /\ a_215^0-a_215^post20 == 0 /\ result_11^0-result_11^post20 == 0 /\ -__disjvr_2^post20+__disjvr_2^0 == 0 /\ -ct_17^post20+ct_17^0 == 0 /\ f_170^0-f_170^post20 == 0 /\ i_30^0-i_30^post20 == 0 /\ __disjvr_9^0-__disjvr_9^post20 == 0 /\ __disjvr_3^0-__disjvr_3^post20 == 0 /\ i_167^0-i_167^post20 == 0 /\ -temp0_31^post20+temp0_31^0 == 0 /\ __disjvr_8^0-__disjvr_8^post20 == 0 /\ head_175^0-head_175^post20 == 0 /\ -r_163^post20+r_163^0 == 0 /\ length_29^0-length_29^post20 == 0 /\ r_39^0-r_39^post20 == 0 /\ __disjvr_22^0-__disjvr_22^post20 == 0 /\ a_260^0-a_260^post20 == 0 /\ -__disjvr_1^post20+__disjvr_1^0 == 0 /\ head_14^0-head_14^post20 == 0 /\ -head_SLAM_f_26^post20+head_SLAM_f_26^0 == 0 /\ -rcd_58^post20+rcd_58^0 == 0 /\ __disjvr_5^0-__disjvr_5^post20 == 0 /\ -head_32^post20+head_32^0 == 0 /\ __disjvr_26^0-__disjvr_26^post20 == 0 /\ __disjvr_19^0-__disjvr_19^post20 == 0 /\ -i_94^post20+i_94^0 == 0 /\ __disjvr_20^0-__disjvr_20^post20 == 0 /\ -r_124^post20+r_124^0 == 0 /\ -__disjvr_25^post20+__disjvr_25^0 == 0 /\ head_129^0-head_129^post20 == 0 /\ -__disjvr_21^post20+__disjvr_21^0 == 0 /\ -__disjvr_10^post20+__disjvr_10^0 == 0 /\ -a_184^post20+a_184^0 == 0 /\ -t_23^post20+t_23^0 == 0 /\ -temp_35^post20+temp_35^0 == 0 /\ -__disjvr_30^post20+__disjvr_30^0 == 0 /\ __disjvr_29^0-__disjvr_29^post20 == 0 /\ __disjvr_28^0-__disjvr_28^post20 == 0 /\ x_20^0-x_20^post20 == 0 /\ -x_16^post20+x_16^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post20+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -head_27^post20+head_27^0 == 0 /\ __disjvr_11^0-__disjvr_11^post20 == 0 /\ -y_19^post20+y_19^0 == 0 /\ -__disjvr_27^post20+__disjvr_27^0 == 0 /\ -__disjvr_16^post20+__disjvr_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post20 == 0 /\ tmp_34^0-tmp_34^post20 == 0 /\ __disjvr_0^0-__disjvr_0^post20 == 0 /\ -__disjvr_23^post20+__disjvr_23^0 == 0 /\ -__disjvr_6^post20+__disjvr_6^0 == 0), cost: 1
New rule:
l19 -> l20 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l20 -> l21 : __disjvr_0^0'=__disjvr_0^post21, a_215^0'=a_215^post21, x_SLAM_f_18^0'=x_SLAM_f_18^post21, __disjvr_21^0'=__disjvr_21^post21, __disjvr_3^0'=__disjvr_3^post21, result_11^0'=result_11^post21, __disjvr_14^0'=__disjvr_14^post21, head_129^0'=head_129^post21, __disjvr_24^0'=__disjvr_24^post21, len_183^0'=len_183^post21, __disjvr_8^0'=__disjvr_8^post21, a_116^0'=a_116^post21, tmp_34^0'=tmp_34^post21, __disjvr_19^0'=__disjvr_19^post21, head_SLAM_f_26^0'=head_SLAM_f_26^post21, __disjvr_29^0'=__disjvr_29^post21, r_39^0'=r_39^post21, __disjvr_11^0'=__disjvr_11^post21, a_260^0'=a_260^post21, i_30^0'=i_30^post21, __disjvr_5^0'=__disjvr_5^post21, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post21, __disjvr_16^0'=__disjvr_16^post21, head_175^0'=head_175^post21, __disjvr_26^0'=__disjvr_26^post21, nondet_12^0'=nondet_12^post21, a_184^0'=a_184^post21, x_20^0'=x_20^post21, __disjvr_20^0'=__disjvr_20^post21, i_167^0'=i_167^post21, __disjvr_30^0'=__disjvr_30^post21, rcd_88^0'=rcd_88^post21, __disjvr_13^0'=__disjvr_13^post21, f_170^0'=f_170^post21, __disjvr_23^0'=__disjvr_23^post21, len_132^0'=len_132^post21, __disjvr_7^0'=__disjvr_7^post21, temp0_15^0'=temp0_15^post21, temp_35^0'=temp_35^post21, __disjvr_18^0'=__disjvr_18^post21, head_32^0'=head_32^post21, __disjvr_28^0'=__disjvr_28^post21, r_163^0'=r_163^post21, __disjvr_10^0'=__disjvr_10^post21, a_237^0'=a_237^post21, y_19^0'=y_19^post21, __disjvr_22^0'=__disjvr_22^post21, __disjvr_4^0'=__disjvr_4^post21, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21, __disjvr_15^0'=__disjvr_15^post21, head_14^0'=head_14^post21, __disjvr_25^0'=__disjvr_25^post21, length_29^0'=length_29^post21, __disjvr_9^0'=__disjvr_9^post21, a_147^0'=a_147^post21, x_16^0'=x_16^post21, __disjvr_1^0'=__disjvr_1^post21, i_108^0'=i_108^post21, __disjvr_2^0'=__disjvr_2^post21, rcd_58^0'=rcd_58^post21, __disjvr_12^0'=__disjvr_12^post21, ct_17^0'=ct_17^post21, i_94^0'=i_94^post21, __disjvr_6^0'=__disjvr_6^post21, t_23^0'=t_23^post21, temp0_31^0'=temp0_31^post21, __disjvr_17^0'=__disjvr_17^post21, head_27^0'=head_27^post21, __disjvr_27^0'=__disjvr_27^post21, r_124^0'=r_124^post21, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post21 == 0 /\ __disjvr_0^0-__disjvr_0^post21 == 0 /\ -__disjvr_27^post21+__disjvr_27^0 == 0 /\ -y_19^0 <= 0 /\ i_30^0-i_30^post21 == 0 /\ -rcd_58^post21+rcd_58^0 == 0 /\ -x_SLAM_f_18^0+x_16^0 <= 0 /\ -head_175^post21+head_175^0 == 0 /\ -i_94^post21+i_94^0 == 0 /\ __disjvr_3^0-__disjvr_3^post21 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post21 == 0 /\ -__disjvr_15^post21+__disjvr_15^0 == 0 /\ a_260^0-a_260^post21 == 0 /\ __disjvr_12^0-__disjvr_12^post21 == 0 /\ __disjvr_2^0-__disjvr_2^post21 == 0 /\ -__disjvr_30^post21+__disjvr_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post21 == 0 /\ rcd_88^0-rcd_88^post21 == 0 /\ -a_116^post21+a_116^0 == 0 /\ __disjvr_5^0-__disjvr_5^post21 == 0 /\ -head_27^post21+head_27^0 == 0 /\ -x_16^post21+x_16^0 == 0 /\ -length_29^post21+length_29^0 == 0 /\ -head_14^post21+head_14^0 == 0 /\ nondet_12^0-nondet_12^post21 == 0 /\ -__disjvr_8^post21+__disjvr_8^0 == 0 /\ x_SLAM_f_18^0-x_16^0 <= 0 /\ __disjvr_20^0-__disjvr_20^post21 == 0 /\ -__disjvr_6^post21+__disjvr_6^0 == 0 /\ -__disjvr_1^post21+__disjvr_1^0 == 0 /\ __disjvr_25^0-__disjvr_25^post21 == 0 /\ __disjvr_10^0-__disjvr_10^post21 == 0 /\ x_SLAM_f_18^0-head_14^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post21 == 0 /\ result_11^0-result_11^post21 == 0 /\ -y_19^0+ct_17^0 <= 0 /\ -__disjvr_9^post21+__disjvr_9^0 == 0 /\ -temp0_31^post21+temp0_31^0 == 0 /\ __disjvr_21^0-__disjvr_21^post21 == 0 /\ __disjvr_24^0-__disjvr_24^post21 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post21 == 0 /\ -__disjvr_29^post21+__disjvr_29^0 == 0 /\ -__disjvr_19^post21+__disjvr_19^0 == 0 /\ x_20^0-x_20^post21 == 0 /\ head_14^0-x_16^0 <= 0 /\ temp_35^0-temp_35^post21 == 0 /\ -a_237^0+a_215^post21 <= 0 /\ y_19^0 <= 0 /\ -__disjvr_18^post21+__disjvr_18^0 == 0 /\ tmp_34^0-tmp_34^post21 == 0 /\ -x_20^0+t_23^post21 == 0 /\ head_14^0-t_23^post21 <= 0 /\ -__disjvr_26^post21+__disjvr_26^0 == 0 /\ -__disjvr_17^post21+__disjvr_17^0 == 0 /\ -__disjvr_4^post21+__disjvr_4^0 == 0 /\ -i_167^post21+i_167^0 == 0 /\ -__disjvr_7^post21+__disjvr_7^0 == 0 /\ y_19^0-y_19^post21 == 0 /\ -ct_17^post21+ct_17^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post21 == 0 /\ -x_SLAM_f_18^0+head_14^0 <= 0 /\ r_39^0-r_39^post21 == 0 /\ -__disjvr_11^post21+__disjvr_11^0 == 0 /\ r_163^0-r_163^post21 == 0 /\ y_19^0-ct_17^0 <= 0 /\ -r_124^post21+r_124^0 == 0 /\ -i_108^post21+i_108^0 == 0 /\ -a_147^post21+a_147^0 == 0 /\ len_183^0-len_183^post21 == 0 /\ -len_132^post21+len_132^0 == 0 /\ temp0_15^0-temp0_15^post21 == 0 /\ ct_17^0 <= 0 /\ -head_14^0+x_16^0 <= 0 /\ -__disjvr_28^post21+__disjvr_28^0 == 0 /\ f_170^0-f_170^post21 == 0 /\ -ct_17^0 <= 0 /\ a_237^0-a_215^post21 <= 0 /\ -__disjvr_13^post21+__disjvr_13^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post21 == 0 /\ -head_14^0+t_23^post21 <= 0 /\ a_184^0-a_184^post21 == 0 /\ head_32^0-head_32^post21 == 0 /\ -__disjvr_22^post21+__disjvr_22^0 == 0 /\ head_129^0-head_129^post21 == 0 /\ -a_237^post21+a_237^0 == 0), cost: 1
New rule:
l20 -> l21 : a_215^0'=a_237^0, t_23^0'=x_20^0, (-x_20^0+head_14^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -y_19^0+ct_17^0 == 0 /\ head_14^0-x_16^0 == 0 /\ ct_17^0 == 0), cost: 1

Applied preprocessing
Original rule:
l21 -> l22 : __disjvr_0^0'=__disjvr_0^post22, a_215^0'=a_215^post22, x_SLAM_f_18^0'=x_SLAM_f_18^post22, __disjvr_21^0'=__disjvr_21^post22, __disjvr_3^0'=__disjvr_3^post22, result_11^0'=result_11^post22, __disjvr_14^0'=__disjvr_14^post22, head_129^0'=head_129^post22, __disjvr_24^0'=__disjvr_24^post22, len_183^0'=len_183^post22, __disjvr_8^0'=__disjvr_8^post22, a_116^0'=a_116^post22, tmp_34^0'=tmp_34^post22, __disjvr_19^0'=__disjvr_19^post22, head_SLAM_f_26^0'=head_SLAM_f_26^post22, __disjvr_29^0'=__disjvr_29^post22, r_39^0'=r_39^post22, __disjvr_11^0'=__disjvr_11^post22, a_260^0'=a_260^post22, i_30^0'=i_30^post22, __disjvr_5^0'=__disjvr_5^post22, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post22, __disjvr_16^0'=__disjvr_16^post22, head_175^0'=head_175^post22, __disjvr_26^0'=__disjvr_26^post22, nondet_12^0'=nondet_12^post22, a_184^0'=a_184^post22, x_20^0'=x_20^post22, __disjvr_20^0'=__disjvr_20^post22, i_167^0'=i_167^post22, __disjvr_30^0'=__disjvr_30^post22, rcd_88^0'=rcd_88^post22, __disjvr_13^0'=__disjvr_13^post22, f_170^0'=f_170^post22, __disjvr_23^0'=__disjvr_23^post22, len_132^0'=len_132^post22, __disjvr_7^0'=__disjvr_7^post22, temp0_15^0'=temp0_15^post22, temp_35^0'=temp_35^post22, __disjvr_18^0'=__disjvr_18^post22, head_32^0'=head_32^post22, __disjvr_28^0'=__disjvr_28^post22, r_163^0'=r_163^post22, __disjvr_10^0'=__disjvr_10^post22, a_237^0'=a_237^post22, y_19^0'=y_19^post22, __disjvr_22^0'=__disjvr_22^post22, __disjvr_4^0'=__disjvr_4^post22, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22, __disjvr_15^0'=__disjvr_15^post22, head_14^0'=head_14^post22, __disjvr_25^0'=__disjvr_25^post22, length_29^0'=length_29^post22, __disjvr_9^0'=__disjvr_9^post22, a_147^0'=a_147^post22, x_16^0'=x_16^post22, __disjvr_1^0'=__disjvr_1^post22, i_108^0'=i_108^post22, __disjvr_2^0'=__disjvr_2^post22, rcd_58^0'=rcd_58^post22, __disjvr_12^0'=__disjvr_12^post22, ct_17^0'=ct_17^post22, i_94^0'=i_94^post22, __disjvr_6^0'=__disjvr_6^post22, t_23^0'=t_23^post22, temp0_31^0'=temp0_31^post22, __disjvr_17^0'=__disjvr_17^post22, head_27^0'=head_27^post22, __disjvr_27^0'=__disjvr_27^post22, r_124^0'=r_124^post22, (-__disjvr_12^post22+__disjvr_12^0 == 0 /\ a_260^0-a_260^post22 == 0 /\ __disjvr_7^0-__disjvr_7^post22 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post22 == 0 /\ -__disjvr_9^post22+__disjvr_9^0 == 0 /\ -rcd_88^post22+rcd_88^0 == 0 /\ __disjvr_5^0-__disjvr_5^post22 == 0 /\ -f_170^post22+f_170^0 == 0 /\ -temp0_31^post22+temp0_31^0 == 0 /\ x_16^0-x_16^post22 == 0 /\ a_215^0-a_215^post22 == 0 /\ a_184^0-a_184^post22 == 0 /\ -__disjvr_26^post22+__disjvr_26^0 == 0 /\ head_129^0-head_129^post22 == 0 /\ -__disjvr_4^post22+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post22 == 0 /\ -r_124^post22+r_124^0 == 0 /\ -i_108^post22+i_108^0 == 0 /\ -nondet_12^post22+nondet_12^0 == 0 /\ __disjvr_29^0-__disjvr_29^post22 == 0 /\ __disjvr_21^0-__disjvr_21^post22 == 0 /\ __disjvr_11^0-__disjvr_11^post22 == 0 /\ -a_147^post22+a_147^0 == 0 /\ -__disjvr_25^post22+__disjvr_25^0 == 0 /\ __disjvr_8^0-__disjvr_8^post22 == 0 /\ -ct_17^post22+ct_17^0 == 0 /\ rcd_58^0-rcd_58^post22 == 0 /\ -x_20^post22+x_20^0 == 0 /\ -__disjvr_2^post22+__disjvr_2^0 == 0 /\ -temp0_15^post22+temp0_15^0 == 0 /\ -__disjvr_27^post22+__disjvr_27^0 == 0 /\ -i_94^post22+i_94^0 == 0 /\ __disjvr_3^0-__disjvr_3^post22 == 0 /\ __disjvr_14^0-__disjvr_14^post22 == 0 /\ __disjvr_22^0-__disjvr_22^post22 == 0 /\ -head_14^post22+head_14^0 == 0 /\ len_183^0-len_183^post22 == 0 /\ -tmp_34^post22+tmp_34^0 == 0 /\ len_132^0-len_132^post22 == 0 /\ -__disjvr_20^post22+__disjvr_20^0 == 0 /\ __disjvr_13^0-__disjvr_13^post22 == 0 /\ a_237^0-a_237^post22 == 0 /\ -x_SLAM_f_18^post22+x_SLAM_f_18^0 == 0 /\ -head_32^post22+head_32^0 == 0 /\ __disjvr_10^post22-__disjvr_10^0 == 0 /\ __disjvr_15^0-__disjvr_15^post22 == 0 /\ __disjvr_19^0-__disjvr_19^post22 == 0 /\ -r_163^post22+r_163^0 == 0 /\ -t_23^post22+t_23^0 == 0 /\ __disjvr_24^0-__disjvr_24^post22 == 0 /\ __disjvr_0^0-__disjvr_0^post22 == 0 /\ -r_39^post22+r_39^0 == 0 /\ result_11^0-result_11^post22 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post22+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post22+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post22 == 0 /\ i_30^0-i_30^post22 == 0 /\ a_116^0-a_116^post22 == 0 /\ -temp_35^post22+temp_35^0 == 0 /\ head_175^0-head_175^post22 == 0 /\ -length_29^post22+length_29^0 == 0 /\ -head_27^post22+head_27^0 == 0 /\ -__disjvr_17^post22+__disjvr_17^0 == 0 /\ -__disjvr_23^post22+__disjvr_23^0 == 0 /\ __disjvr_30^0-__disjvr_30^post22 == 0 /\ -__disjvr_10^post22+__disjvr_10^0 == 0 /\ -__disjvr_6^post22+__disjvr_6^0 == 0 /\ __disjvr_18^0-__disjvr_18^post22 == 0 /\ -y_19^post22+y_19^0 == 0 /\ i_167^0-i_167^post22 == 0 /\ -__disjvr_1^post22+__disjvr_1^0 == 0), cost: 1
New rule:
l21 -> l22 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l22 -> l23 : __disjvr_0^0'=__disjvr_0^post23, a_215^0'=a_215^post23, x_SLAM_f_18^0'=x_SLAM_f_18^post23, __disjvr_21^0'=__disjvr_21^post23, __disjvr_3^0'=__disjvr_3^post23, result_11^0'=result_11^post23, __disjvr_14^0'=__disjvr_14^post23, head_129^0'=head_129^post23, __disjvr_24^0'=__disjvr_24^post23, len_183^0'=len_183^post23, __disjvr_8^0'=__disjvr_8^post23, a_116^0'=a_116^post23, tmp_34^0'=tmp_34^post23, __disjvr_19^0'=__disjvr_19^post23, head_SLAM_f_26^0'=head_SLAM_f_26^post23, __disjvr_29^0'=__disjvr_29^post23, r_39^0'=r_39^post23, __disjvr_11^0'=__disjvr_11^post23, a_260^0'=a_260^post23, i_30^0'=i_30^post23, __disjvr_5^0'=__disjvr_5^post23, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post23, __disjvr_16^0'=__disjvr_16^post23, head_175^0'=head_175^post23, __disjvr_26^0'=__disjvr_26^post23, nondet_12^0'=nondet_12^post23, a_184^0'=a_184^post23, x_20^0'=x_20^post23, __disjvr_20^0'=__disjvr_20^post23, i_167^0'=i_167^post23, __disjvr_30^0'=__disjvr_30^post23, rcd_88^0'=rcd_88^post23, __disjvr_13^0'=__disjvr_13^post23, f_170^0'=f_170^post23, __disjvr_23^0'=__disjvr_23^post23, len_132^0'=len_132^post23, __disjvr_7^0'=__disjvr_7^post23, temp0_15^0'=temp0_15^post23, temp_35^0'=temp_35^post23, __disjvr_18^0'=__disjvr_18^post23, head_32^0'=head_32^post23, __disjvr_28^0'=__disjvr_28^post23, r_163^0'=r_163^post23, __disjvr_10^0'=__disjvr_10^post23, a_237^0'=a_237^post23, y_19^0'=y_19^post23, __disjvr_22^0'=__disjvr_22^post23, __disjvr_4^0'=__disjvr_4^post23, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23, __disjvr_15^0'=__disjvr_15^post23, head_14^0'=head_14^post23, __disjvr_25^0'=__disjvr_25^post23, length_29^0'=length_29^post23, __disjvr_9^0'=__disjvr_9^post23, a_147^0'=a_147^post23, x_16^0'=x_16^post23, __disjvr_1^0'=__disjvr_1^post23, i_108^0'=i_108^post23, __disjvr_2^0'=__disjvr_2^post23, rcd_58^0'=rcd_58^post23, __disjvr_12^0'=__disjvr_12^post23, ct_17^0'=ct_17^post23, i_94^0'=i_94^post23, __disjvr_6^0'=__disjvr_6^post23, t_23^0'=t_23^post23, temp0_31^0'=temp0_31^post23, __disjvr_17^0'=__disjvr_17^post23, head_27^0'=head_27^post23, __disjvr_27^0'=__disjvr_27^post23, r_124^0'=r_124^post23, (__disjvr_24^0-__disjvr_24^post23 == 0 /\ __disjvr_16^0-__disjvr_16^post23 == 0 /\ a_147^0-a_147^post23 == 0 /\ -__disjvr_2^post23+__disjvr_2^0 == 0 /\ -__disjvr_23^post23+__disjvr_23^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post23 == 0 /\ -i_94^post23+i_94^0 == 0 /\ __disjvr_11^0-__disjvr_11^post23 == 0 /\ __disjvr_8^0-__disjvr_8^post23 == 0 /\ __disjvr_30^0-__disjvr_30^post23 == 0 /\ -t_23^post23+t_23^0 == 0 /\ tmp_34^0-tmp_34^post23 == 0 /\ i_30^0-i_30^post23 == 0 /\ temp_35^0-temp_35^post23 == 0 /\ -head_175^post23+head_175^0 == 0 /\ -head_14^post23+head_14^0 == 0 /\ -__disjvr_27^post23+__disjvr_27^0 == 0 /\ -a_184^post23+a_184^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post23+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -rcd_58^post23+rcd_58^0 == 0 /\ i_108^0-i_108^post23 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post23 == 0 /\ __disjvr_3^0-__disjvr_3^post23 == 0 /\ -__disjvr_11^0+__disjvr_11^post23 == 0 /\ r_163^0-r_163^post23 == 0 /\ r_39^0-r_39^post23 == 0 /\ __disjvr_12^0-__disjvr_12^post23 == 0 /\ -__disjvr_1^post23+__disjvr_1^0 == 0 /\ nondet_12^0-nondet_12^post23 == 0 /\ -head_27^post23+head_27^0 == 0 /\ -__disjvr_15^post23+__disjvr_15^0 == 0 /\ -__disjvr_6^post23+__disjvr_6^0 == 0 /\ -length_29^post23+length_29^0 == 0 /\ -__disjvr_17^post23+__disjvr_17^0 == 0 /\ a_260^0-a_260^post23 == 0 /\ -__disjvr_10^post23+__disjvr_10^0 == 0 /\ __disjvr_19^0-__disjvr_19^post23 == 0 /\ -y_19^post23+y_19^0 == 0 /\ head_129^0-head_129^post23 == 0 /\ __disjvr_28^0-__disjvr_28^post23 == 0 /\ __disjvr_0^0-__disjvr_0^post23 == 0 /\ x_20^0-x_20^post23 == 0 /\ __disjvr_29^0-__disjvr_29^post23 == 0 /\ __disjvr_25^0-__disjvr_25^post23 == 0 /\ a_116^0-a_116^post23 == 0 /\ -__disjvr_13^post23+__disjvr_13^0 == 0 /\ -temp0_15^post23+temp0_15^0 == 0 /\ f_170^0-f_170^post23 == 0 /\ -len_183^post23+len_183^0 == 0 /\ -__disjvr_9^post23+__disjvr_9^0 == 0 /\ -temp0_31^post23+temp0_31^0 == 0 /\ -x_16^post23+x_16^0 == 0 /\ __disjvr_7^0-__disjvr_7^post23 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post23 == 0 /\ -__disjvr_18^post23+__disjvr_18^0 == 0 /\ i_167^0-i_167^post23 == 0 /\ -__disjvr_22^post23+__disjvr_22^0 == 0 /\ rcd_88^0-rcd_88^post23 == 0 /\ -a_237^post23+a_237^0 == 0 /\ __disjvr_26^0-__disjvr_26^post23 == 0 /\ -len_132^post23+len_132^0 == 0 /\ head_32^0-head_32^post23 == 0 /\ __disjvr_5^0-__disjvr_5^post23 == 0 /\ result_11^0-result_11^post23 == 0 /\ -ct_17^post23+ct_17^0 == 0 /\ __disjvr_14^0-__disjvr_14^post23 == 0 /\ __disjvr_20^0-__disjvr_20^post23 == 0 /\ a_215^0-a_215^post23 == 0 /\ __disjvr_21^0-__disjvr_21^post23 == 0 /\ -r_124^post23+r_124^0 == 0 /\ __disjvr_4^0-__disjvr_4^post23 == 0), cost: 1
New rule:
l22 -> l23 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l23 -> l24 : __disjvr_0^0'=__disjvr_0^post24, a_215^0'=a_215^post24, x_SLAM_f_18^0'=x_SLAM_f_18^post24, __disjvr_21^0'=__disjvr_21^post24, __disjvr_3^0'=__disjvr_3^post24, result_11^0'=result_11^post24, __disjvr_14^0'=__disjvr_14^post24, head_129^0'=head_129^post24, __disjvr_24^0'=__disjvr_24^post24, len_183^0'=len_183^post24, __disjvr_8^0'=__disjvr_8^post24, a_116^0'=a_116^post24, tmp_34^0'=tmp_34^post24, __disjvr_19^0'=__disjvr_19^post24, head_SLAM_f_26^0'=head_SLAM_f_26^post24, __disjvr_29^0'=__disjvr_29^post24, r_39^0'=r_39^post24, __disjvr_11^0'=__disjvr_11^post24, a_260^0'=a_260^post24, i_30^0'=i_30^post24, __disjvr_5^0'=__disjvr_5^post24, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post24, __disjvr_16^0'=__disjvr_16^post24, head_175^0'=head_175^post24, __disjvr_26^0'=__disjvr_26^post24, nondet_12^0'=nondet_12^post24, a_184^0'=a_184^post24, x_20^0'=x_20^post24, __disjvr_20^0'=__disjvr_20^post24, i_167^0'=i_167^post24, __disjvr_30^0'=__disjvr_30^post24, rcd_88^0'=rcd_88^post24, __disjvr_13^0'=__disjvr_13^post24, f_170^0'=f_170^post24, __disjvr_23^0'=__disjvr_23^post24, len_132^0'=len_132^post24, __disjvr_7^0'=__disjvr_7^post24, temp0_15^0'=temp0_15^post24, temp_35^0'=temp_35^post24, __disjvr_18^0'=__disjvr_18^post24, head_32^0'=head_32^post24, __disjvr_28^0'=__disjvr_28^post24, r_163^0'=r_163^post24, __disjvr_10^0'=__disjvr_10^post24, a_237^0'=a_237^post24, y_19^0'=y_19^post24, __disjvr_22^0'=__disjvr_22^post24, __disjvr_4^0'=__disjvr_4^post24, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24, __disjvr_15^0'=__disjvr_15^post24, head_14^0'=head_14^post24, __disjvr_25^0'=__disjvr_25^post24, length_29^0'=length_29^post24, __disjvr_9^0'=__disjvr_9^post24, a_147^0'=a_147^post24, x_16^0'=x_16^post24, __disjvr_1^0'=__disjvr_1^post24, i_108^0'=i_108^post24, __disjvr_2^0'=__disjvr_2^post24, rcd_58^0'=rcd_58^post24, __disjvr_12^0'=__disjvr_12^post24, ct_17^0'=ct_17^post24, i_94^0'=i_94^post24, __disjvr_6^0'=__disjvr_6^post24, t_23^0'=t_23^post24, temp0_31^0'=temp0_31^post24, __disjvr_17^0'=__disjvr_17^post24, head_27^0'=head_27^post24, __disjvr_27^0'=__disjvr_27^post24, r_124^0'=r_124^post24, (r_39^0-r_39^post24 == 0 /\ a_260^0-a_260^post24 == 0 /\ -__disjvr_13^post24+__disjvr_13^0 == 0 /\ len_183^0-len_183^post24 == 0 /\ -__disjvr_29^post24+__disjvr_29^0 == 0 /\ __disjvr_3^0-__disjvr_3^post24 == 0 /\ __disjvr_12^post24-__disjvr_12^0 == 0 /\ -i_30^post24+i_30^0 == 0 /\ -__disjvr_4^post24+__disjvr_4^0 == 0 /\ __disjvr_19^0-__disjvr_19^post24 == 0 /\ __disjvr_10^0-__disjvr_10^post24 == 0 /\ result_11^0-result_11^post24 == 0 /\ ct_17^0-ct_17^post24 == 0 /\ __disjvr_14^0-__disjvr_14^post24 == 0 /\ -x_16^post24+x_16^0 == 0 /\ __disjvr_1^0-__disjvr_1^post24 == 0 /\ -__disjvr_26^post24+__disjvr_26^0 == 0 /\ -a_237^post24+a_237^0 == 0 /\ -temp0_31^post24+temp0_31^0 == 0 /\ -__disjvr_22^post24+__disjvr_22^0 == 0 /\ __disjvr_16^0-__disjvr_16^post24 == 0 /\ __disjvr_24^0-__disjvr_24^post24 == 0 /\ __disjvr_21^0-__disjvr_21^post24 == 0 /\ __disjvr_20^0-__disjvr_20^post24 == 0 /\ -__disjvr_11^post24+__disjvr_11^0 == 0 /\ rcd_58^0-rcd_58^post24 == 0 /\ x_20^0-x_20^post24 == 0 /\ __disjvr_0^0-__disjvr_0^post24 == 0 /\ -i_108^post24+i_108^0 == 0 /\ -__disjvr_12^post24+__disjvr_12^0 == 0 /\ -__disjvr_25^post24+__disjvr_25^0 == 0 /\ -__disjvr_9^post24+__disjvr_9^0 == 0 /\ head_175^0-head_175^post24 == 0 /\ -t_23^post24+t_23^0 == 0 /\ __disjvr_23^0-__disjvr_23^post24 == 0 /\ -__disjvr_28^post24+__disjvr_28^0 == 0 /\ tmp_34^0-tmp_34^post24 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post24 == 0 /\ -r_124^post24+r_124^0 == 0 /\ -__disjvr_15^post24+__disjvr_15^0 == 0 /\ -__disjvr_2^post24+__disjvr_2^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post24 == 0 /\ temp0_15^0-temp0_15^post24 == 0 /\ rcd_88^0-rcd_88^post24 == 0 /\ -i_94^post24+i_94^0 == 0 /\ -head_14^post24+head_14^0 == 0 /\ a_184^0-a_184^post24 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post24 == 0 /\ -len_132^post24+len_132^0 == 0 /\ -r_163^post24+r_163^0 == 0 /\ nondet_12^0-nondet_12^post24 == 0 /\ -length_29^post24+length_29^0 == 0 /\ a_215^0-a_215^post24 == 0 /\ -__disjvr_6^post24+__disjvr_6^0 == 0 /\ -__disjvr_27^post24+__disjvr_27^0 == 0 /\ -a_147^post24+a_147^0 == 0 /\ head_129^0-head_129^post24 == 0 /\ a_116^0-a_116^post24 == 0 /\ -__disjvr_7^post24+__disjvr_7^0 == 0 /\ __disjvr_18^0-__disjvr_18^post24 == 0 /\ -__disjvr_30^post24+__disjvr_30^0 == 0 /\ -head_27^post24+head_27^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post24 == 0 /\ -head_32^post24+head_32^0 == 0 /\ y_19^0-y_19^post24 == 0 /\ -f_170^post24+f_170^0 == 0 /\ -__disjvr_17^post24+__disjvr_17^0 == 0 /\ temp_35^0-temp_35^post24 == 0 /\ __disjvr_8^0-__disjvr_8^post24 == 0 /\ -__disjvr_5^post24+__disjvr_5^0 == 0 /\ -i_167^post24+i_167^0 == 0), cost: 1
New rule:
l23 -> l24 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l24 -> l0 : __disjvr_0^0'=__disjvr_0^post25, a_215^0'=a_215^post25, x_SLAM_f_18^0'=x_SLAM_f_18^post25, __disjvr_21^0'=__disjvr_21^post25, __disjvr_3^0'=__disjvr_3^post25, result_11^0'=result_11^post25, __disjvr_14^0'=__disjvr_14^post25, head_129^0'=head_129^post25, __disjvr_24^0'=__disjvr_24^post25, len_183^0'=len_183^post25, __disjvr_8^0'=__disjvr_8^post25, a_116^0'=a_116^post25, tmp_34^0'=tmp_34^post25, __disjvr_19^0'=__disjvr_19^post25, head_SLAM_f_26^0'=head_SLAM_f_26^post25, __disjvr_29^0'=__disjvr_29^post25, r_39^0'=r_39^post25, __disjvr_11^0'=__disjvr_11^post25, a_260^0'=a_260^post25, i_30^0'=i_30^post25, __disjvr_5^0'=__disjvr_5^post25, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post25, __disjvr_16^0'=__disjvr_16^post25, head_175^0'=head_175^post25, __disjvr_26^0'=__disjvr_26^post25, nondet_12^0'=nondet_12^post25, a_184^0'=a_184^post25, x_20^0'=x_20^post25, __disjvr_20^0'=__disjvr_20^post25, i_167^0'=i_167^post25, __disjvr_30^0'=__disjvr_30^post25, rcd_88^0'=rcd_88^post25, __disjvr_13^0'=__disjvr_13^post25, f_170^0'=f_170^post25, __disjvr_23^0'=__disjvr_23^post25, len_132^0'=len_132^post25, __disjvr_7^0'=__disjvr_7^post25, temp0_15^0'=temp0_15^post25, temp_35^0'=temp_35^post25, __disjvr_18^0'=__disjvr_18^post25, head_32^0'=head_32^post25, __disjvr_28^0'=__disjvr_28^post25, r_163^0'=r_163^post25, __disjvr_10^0'=__disjvr_10^post25, a_237^0'=a_237^post25, y_19^0'=y_19^post25, __disjvr_22^0'=__disjvr_22^post25, __disjvr_4^0'=__disjvr_4^post25, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25, __disjvr_15^0'=__disjvr_15^post25, head_14^0'=head_14^post25, __disjvr_25^0'=__disjvr_25^post25, length_29^0'=length_29^post25, __disjvr_9^0'=__disjvr_9^post25, a_147^0'=a_147^post25, x_16^0'=x_16^post25, __disjvr_1^0'=__disjvr_1^post25, i_108^0'=i_108^post25, __disjvr_2^0'=__disjvr_2^post25, rcd_58^0'=rcd_58^post25, __disjvr_12^0'=__disjvr_12^post25, ct_17^0'=ct_17^post25, i_94^0'=i_94^post25, __disjvr_6^0'=__disjvr_6^post25, t_23^0'=t_23^post25, temp0_31^0'=temp0_31^post25, __disjvr_17^0'=__disjvr_17^post25, head_27^0'=head_27^post25, __disjvr_27^0'=__disjvr_27^post25, r_124^0'=r_124^post25, (0 == 0 /\ __disjvr_9^0-__disjvr_9^post25 == 0 /\ rcd_58^0-rcd_58^post25 == 0 /\ -ct_17^post25+ct_17^0 == 0 /\ -__disjvr_15^post25+__disjvr_15^0 == 0 /\ -__disjvr_17^post25+__disjvr_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post25 == 0 /\ a_116^0-a_116^post25 == 0 /\ -a_147^post25+a_147^0 == 0 /\ x_16^0-x_16^post25 == 0 /\ i_30^0-i_30^post25 == 0 /\ 1+a_215^0-len_132^post25 <= 0 /\ -__disjvr_2^post25+__disjvr_2^0 == 0 /\ -__disjvr_6^post25+__disjvr_6^0 == 0 /\ -y_19^post25+y_19^0 == 0 /\ __disjvr_23^0-__disjvr_23^post25 == 0 /\ a_260^0-a_260^post25 == 0 /\ -temp0_31^post25+temp0_31^0 == 0 /\ __disjvr_3^0-__disjvr_3^post25 == 0 /\ rcd_88^0-rcd_88^post25 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post25 == 0 /\ __disjvr_28^0-__disjvr_28^post25 == 0 /\ __disjvr_1^0-__disjvr_1^post25 == 0 /\ __disjvr_5^0-__disjvr_5^post25 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post25+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_14^0-__disjvr_14^post25 == 0 /\ -head_27^post25+head_27^0 == 0 /\ -head_32^post25+head_32^0 == 0 /\ -f_170^post25+f_170^0 == 0 /\ -r_163^post25+r_163^0 == 0 /\ __disjvr_16^0-__disjvr_16^post25 == 0 /\ -__disjvr_30^post25+__disjvr_30^0 == 0 /\ __disjvr_21^0-__disjvr_21^post25 == 0 /\ __disjvr_24^0-__disjvr_24^post25 == 0 /\ head_175^0-head_175^post25 == 0 /\ -__disjvr_19^post25+__disjvr_19^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post25 == 0 /\ x_20^0-x_20^post25 == 0 /\ __disjvr_18^0-__disjvr_18^post25 == 0 /\ __disjvr_0^0-__disjvr_0^post25 == 0 /\ -__disjvr_4^post25+__disjvr_4^0 == 0 /\ -__disjvr_25^post25+__disjvr_25^0 == 0 /\ nondet_12^0-nondet_12^post25 == 0 /\ -temp_35^post25+temp_35^0 == 0 /\ tmp_34^0-tmp_34^post25 == 0 /\ -1-a_215^0+len_132^post25 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post25 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_22^post25+__disjvr_22^0 == 0 /\ -__disjvr_29^post25+__disjvr_29^0 == 0 /\ -__disjvr_7^post25+__disjvr_7^0 == 0 /\ -__disjvr_10^post25+__disjvr_10^0 == 0 /\ -__disjvr_12^post25+__disjvr_12^0 == 0 /\ a_237^0-a_237^post25 == 0 /\ -__disjvr_11^post25+__disjvr_11^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ len_183^0-len_183^post25 == 0 /\ -head_14^post25+head_14^0 == 0 /\ i_167^0-i_167^post25 == 0 /\ r_39^0-r_39^post25 == 0 /\ -__disjvr_26^post25+__disjvr_26^0 == 0 /\ -__disjvr_27^post25+__disjvr_27^0 == 0 /\ -i_108^post25+i_108^0 == 0 /\ -__disjvr_20^post25+__disjvr_20^0 == 0 /\ a_215^0-a_215^post25 == 0 /\ -r_124^post25+r_124^0 == 0 /\ temp0_15^0-temp0_15^post25 == 0 /\ a_184^0-a_184^post25 == 0 /\ length_29^0-length_29^post25 == 0 /\ -i_94^post25+i_94^0 == 0 /\ result_11^0-result_11^post25 == 0 /\ __disjvr_13^0-__disjvr_13^post25 == 0 /\ head_129^0-head_129^post25 == 0 /\ -t_23^post25+t_23^0 == 0), cost: 1
New rule:
l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l25 -> l38 : __disjvr_0^0'=__disjvr_0^post39, a_215^0'=a_215^post39, x_SLAM_f_18^0'=x_SLAM_f_18^post39, __disjvr_21^0'=__disjvr_21^post39, __disjvr_3^0'=__disjvr_3^post39, result_11^0'=result_11^post39, __disjvr_14^0'=__disjvr_14^post39, head_129^0'=head_129^post39, __disjvr_24^0'=__disjvr_24^post39, len_183^0'=len_183^post39, __disjvr_8^0'=__disjvr_8^post39, a_116^0'=a_116^post39, tmp_34^0'=tmp_34^post39, __disjvr_19^0'=__disjvr_19^post39, head_SLAM_f_26^0'=head_SLAM_f_26^post39, __disjvr_29^0'=__disjvr_29^post39, r_39^0'=r_39^post39, __disjvr_11^0'=__disjvr_11^post39, a_260^0'=a_260^post39, i_30^0'=i_30^post39, __disjvr_5^0'=__disjvr_5^post39, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post39, __disjvr_16^0'=__disjvr_16^post39, head_175^0'=head_175^post39, __disjvr_26^0'=__disjvr_26^post39, nondet_12^0'=nondet_12^post39, a_184^0'=a_184^post39, x_20^0'=x_20^post39, __disjvr_20^0'=__disjvr_20^post39, i_167^0'=i_167^post39, __disjvr_30^0'=__disjvr_30^post39, rcd_88^0'=rcd_88^post39, __disjvr_13^0'=__disjvr_13^post39, f_170^0'=f_170^post39, __disjvr_23^0'=__disjvr_23^post39, len_132^0'=len_132^post39, __disjvr_7^0'=__disjvr_7^post39, temp0_15^0'=temp0_15^post39, temp_35^0'=temp_35^post39, __disjvr_18^0'=__disjvr_18^post39, head_32^0'=head_32^post39, __disjvr_28^0'=__disjvr_28^post39, r_163^0'=r_163^post39, __disjvr_10^0'=__disjvr_10^post39, a_237^0'=a_237^post39, y_19^0'=y_19^post39, __disjvr_22^0'=__disjvr_22^post39, __disjvr_4^0'=__disjvr_4^post39, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39, __disjvr_15^0'=__disjvr_15^post39, head_14^0'=head_14^post39, __disjvr_25^0'=__disjvr_25^post39, length_29^0'=length_29^post39, __disjvr_9^0'=__disjvr_9^post39, a_147^0'=a_147^post39, x_16^0'=x_16^post39, __disjvr_1^0'=__disjvr_1^post39, i_108^0'=i_108^post39, __disjvr_2^0'=__disjvr_2^post39, rcd_58^0'=rcd_58^post39, __disjvr_12^0'=__disjvr_12^post39, ct_17^0'=ct_17^post39, i_94^0'=i_94^post39, __disjvr_6^0'=__disjvr_6^post39, t_23^0'=t_23^post39, temp0_31^0'=temp0_31^post39, __disjvr_17^0'=__disjvr_17^post39, head_27^0'=head_27^post39, __disjvr_27^0'=__disjvr_27^post39, r_124^0'=r_124^post39, (0 == 0 /\ __disjvr_20^0-__disjvr_20^post39 == 0 /\ -__disjvr_17^post39+__disjvr_17^0 == 0 /\ -t_23^post39+t_23^0 == 0 /\ -__disjvr_2^post39+__disjvr_2^0 == 0 /\ -head_27^post39+head_27^0 == 0 /\ f_170^0-f_170^post39 == 0 /\ -__disjvr_28^post39+__disjvr_28^0 == 0 /\ head_129^0-head_129^post39 == 0 /\ -length_29^post39+length_29^0 == 0 /\ x_20^0-x_20^post39 == 0 /\ __disjvr_0^0-__disjvr_0^post39 == 0 /\ nondet_12^0-nondet_12^post39 == 0 /\ a_116^0-a_116^post39 == 0 /\ -a_184^post39+a_184^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post39 == 0 /\ -head_14^post39+head_14^0 == 0 /\ 1-length_29^0 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post39-length_29^0 <= 0 /\ tmp_34^post39-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -len_132^post39+len_132^0 == 0 /\ -a_147^post39+a_147^0 == 0 /\ -2+i_30^post39 <= 0 /\ -__disjvr_1^post39+__disjvr_1^0 == 0 /\ -temp0_31^post39+temp0_31^0 == 0 /\ 2-length_29^0 <= 0 /\ -__disjvr_6^post39+__disjvr_6^0 == 0 /\ -__disjvr_29^post39+__disjvr_29^0 == 0 /\ a_260^0-a_260^post39 == 0 /\ -head_175^post39+head_175^0 == 0 /\ __disjvr_12^0-__disjvr_12^post39 == 0 /\ a_215^0-a_215^post39 == 0 /\ __disjvr_16^0-__disjvr_16^post39 == 0 /\ -__disjvr_15^post39+__disjvr_15^0 == 0 /\ __disjvr_5^0-__disjvr_5^post39 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post39+length_29^0 <= 0 /\ -tmp_34^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -__disjvr_30^post39+__disjvr_30^0 == 0 /\ __disjvr_14^0-__disjvr_14^post39 == 0 /\ tmp_34^post39-head_32^post39 <= 0 /\ -i_167^post39+i_167^0 == 0 /\ -__disjvr_7^post39+__disjvr_7^0 == 0 /\ __disjvr_8^0-__disjvr_8^post39 == 0 /\ __disjvr_21^0-__disjvr_21^post39 == 0 /\ __disjvr_25^0-__disjvr_25^post39 == 0 /\ -__disjvr_10^post39+__disjvr_10^0 == 0 /\ -1-i_30^0+i_30^post39 == 0 /\ -r_124^post39+r_124^0 == 0 /\ -__disjvr_3^post39+__disjvr_3^0 == 0 /\ -__disjvr_4^post39+__disjvr_4^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ __disjvr_23^0-__disjvr_23^post39 == 0 /\ len_183^0-len_183^post39 == 0 /\ y_19^0-y_19^post39 == 0 /\ -head_32^post39+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ -x_16^post39+x_16^0 == 0 /\ -a_237^post39+a_237^0 == 0 /\ __disjvr_24^0-__disjvr_24^post39 == 0 /\ -__disjvr_13^post39+__disjvr_13^0 == 0 /\ rcd_88^0-rcd_88^post39 == 0 /\ 2-i_30^post39 <= 0 /\ -__disjvr_22^post39+__disjvr_22^0 == 0 /\ -tmp_34^post39+head_32^post39 <= 0 /\ -tmp_34^post39+head_32^post39 == 0 /\ -__disjvr_18^post39+__disjvr_18^0 == 0 /\ -__disjvr_27^post39+__disjvr_27^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post39 == 0 /\ -i_108^post39+i_108^0 == 0 /\ result_11^0-result_11^post39 == 0 /\ -__disjvr_11^post39+__disjvr_11^0 == 0 /\ head_32^post39-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post39 <= 0 /\ __disjvr_19^0-__disjvr_19^post39 == 0 /\ r_39^0-r_39^post39 == 0 /\ r_163^0-r_163^post39 == 0 /\ -ct_17^post39+ct_17^0 == 0 /\ temp0_15^0-temp0_15^post39 == 0 /\ -i_94^post39+i_94^0 == 0 /\ -__disjvr_9^post39+__disjvr_9^0 == 0 /\ tmp_34^post39-temp_35^0 == 0 /\ -__disjvr_26^post39+__disjvr_26^0 == 0), cost: 1
New rule:
l25 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post39, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post39, (1+i_30^0-length_29^0 <= 0 /\ -1+i_30^0 == 0), cost: 1

Applied preprocessing
Original rule:
l39 -> l40 : __disjvr_0^0'=__disjvr_0^post40, a_215^0'=a_215^post40, x_SLAM_f_18^0'=x_SLAM_f_18^post40, __disjvr_21^0'=__disjvr_21^post40, __disjvr_3^0'=__disjvr_3^post40, result_11^0'=result_11^post40, __disjvr_14^0'=__disjvr_14^post40, head_129^0'=head_129^post40, __disjvr_24^0'=__disjvr_24^post40, len_183^0'=len_183^post40, __disjvr_8^0'=__disjvr_8^post40, a_116^0'=a_116^post40, tmp_34^0'=tmp_34^post40, __disjvr_19^0'=__disjvr_19^post40, head_SLAM_f_26^0'=head_SLAM_f_26^post40, __disjvr_29^0'=__disjvr_29^post40, r_39^0'=r_39^post40, __disjvr_11^0'=__disjvr_11^post40, a_260^0'=a_260^post40, i_30^0'=i_30^post40, __disjvr_5^0'=__disjvr_5^post40, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post40, __disjvr_16^0'=__disjvr_16^post40, head_175^0'=head_175^post40, __disjvr_26^0'=__disjvr_26^post40, nondet_12^0'=nondet_12^post40, a_184^0'=a_184^post40, x_20^0'=x_20^post40, __disjvr_20^0'=__disjvr_20^post40, i_167^0'=i_167^post40, __disjvr_30^0'=__disjvr_30^post40, rcd_88^0'=rcd_88^post40, __disjvr_13^0'=__disjvr_13^post40, f_170^0'=f_170^post40, __disjvr_23^0'=__disjvr_23^post40, len_132^0'=len_132^post40, __disjvr_7^0'=__disjvr_7^post40, temp0_15^0'=temp0_15^post40, temp_35^0'=temp_35^post40, __disjvr_18^0'=__disjvr_18^post40, head_32^0'=head_32^post40, __disjvr_28^0'=__disjvr_28^post40, r_163^0'=r_163^post40, __disjvr_10^0'=__disjvr_10^post40, a_237^0'=a_237^post40, y_19^0'=y_19^post40, __disjvr_22^0'=__disjvr_22^post40, __disjvr_4^0'=__disjvr_4^post40, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40, __disjvr_15^0'=__disjvr_15^post40, head_14^0'=head_14^post40, __disjvr_25^0'=__disjvr_25^post40, length_29^0'=length_29^post40, __disjvr_9^0'=__disjvr_9^post40, a_147^0'=a_147^post40, x_16^0'=x_16^post40, __disjvr_1^0'=__disjvr_1^post40, i_108^0'=i_108^post40, __disjvr_2^0'=__disjvr_2^post40, rcd_58^0'=rcd_58^post40, __disjvr_12^0'=__disjvr_12^post40, ct_17^0'=ct_17^post40, i_94^0'=i_94^post40, __disjvr_6^0'=__disjvr_6^post40, t_23^0'=t_23^post40, temp0_31^0'=temp0_31^post40, __disjvr_17^0'=__disjvr_17^post40, head_27^0'=head_27^post40, __disjvr_27^0'=__disjvr_27^post40, r_124^0'=r_124^post40, (0 == 0 /\ -__disjvr_12^post40+__disjvr_12^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post40 == 0 /\ -temp0_31^post40+temp0_31^0 == 0 /\ -__disjvr_6^post40+__disjvr_6^0 == 0 /\ __disjvr_5^0-__disjvr_5^post40 == 0 /\ -y_19^post40+y_19^0 == 0 /\ -__disjvr_26^post40+__disjvr_26^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_29^post40 <= 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post40+length_29^post40 == 0 /\ __disjvr_21^0-__disjvr_21^post40 == 0 /\ -i_108^post40+i_108^0 == 0 /\ -head_32^post40 <= 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post40+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ head_129^0-head_129^post40 == 0 /\ -__disjvr_2^post40+__disjvr_2^0 == 0 /\ rcd_88^0-rcd_88^post40 == 0 /\ -__disjvr_9^post40+__disjvr_9^0 == 0 /\ -temp0_15^post40+temp0_15^0 == 0 /\ -f_170^post40+f_170^0 == 0 /\ -a_147^post40+a_147^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post40 == 0 /\ -ct_17^post40+ct_17^0 == 0 /\ a_215^0-a_215^post40 == 0 /\ a_184^0-a_184^post40 == 0 /\ result_11^0-result_11^post40 == 0 /\ __disjvr_28^0-__disjvr_28^post40 == 0 /\ __disjvr_29^0-__disjvr_29^post40 == 0 /\ -__disjvr_4^post40+__disjvr_4^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-length_29^post40 <= 0 /\ __disjvr_8^0-__disjvr_8^post40 == 0 /\ __disjvr_14^0-__disjvr_14^post40 == 0 /\ len_183^0-len_183^post40 == 0 /\ __disjvr_22^0-__disjvr_22^post40 == 0 /\ -__disjvr_1^post40+__disjvr_1^0 == 0 /\ len_132^0-len_132^post40 == 0 /\ -x_20^post40+x_20^0 == 0 /\ __disjvr_19^0-__disjvr_19^post40 == 0 /\ -x_16^post40+x_16^0 == 0 /\ __disjvr_13^0-__disjvr_13^post40 == 0 /\ -r_163^post40+r_163^0 == 0 /\ __disjvr_30^0-__disjvr_30^post40 == 0 /\ -__disjvr_27^post40+__disjvr_27^0 == 0 /\ -rcd_58^post40+rcd_58^0 == 0 /\ -r_124^post40+r_124^0 == 0 /\ a_237^0-a_237^post40 == 0 /\ -__disjvr_25^post40+__disjvr_25^0 == 0 /\ -i_94^post40+i_94^0 == 0 /\ head_14^0-head_14^post40 == 0 /\ __disjvr_11^0-__disjvr_11^post40 == 0 /\ -a_260^post40+a_260^0 == 0 /\ head_32^post40 <= 0 /\ head_32^post40 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post40-nondet_12^10 == 0 /\ -tmp_34^post40+tmp_34^0 == 0 /\ -t_23^post40+t_23^0 == 0 /\ -__disjvr_15^post40+__disjvr_15^0 == 0 /\ i_30^post40 <= 0 /\ i_30^post40 == 0 /\ -head_27^post40+head_27^0 == 0 /\ -__disjvr_20^post40+__disjvr_20^0 == 0 /\ i_167^0-i_167^post40 == 0 /\ -__disjvr_23^post40+__disjvr_23^0 == 0 /\ -__disjvr_17^post40+__disjvr_17^0 == 0 /\ a_116^0-a_116^post40 == 0 /\ __disjvr_24^0-__disjvr_24^post40 == 0 /\ -i_30^post40 <= 0 /\ -__disjvr_10^post40+__disjvr_10^0 == 0 /\ -__disjvr_18^post40+__disjvr_18^0 == 0 /\ __disjvr_16^0-__disjvr_16^post40 == 0 /\ -r_39^post40+r_39^0 == 0 /\ -temp_35^post40+temp_35^0 == 0 /\ __disjvr_3^0-__disjvr_3^post40 == 0 /\ -__disjvr_7^post40+__disjvr_7^0 == 0 /\ __disjvr_0^0-__disjvr_0^post40 == 0 /\ head_175^0-head_175^post40 == 0), cost: 1
New rule:
l39 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 1

Applied preprocessing
Original rule:
l41 -> l42 : __disjvr_0^0'=__disjvr_0^post41, a_215^0'=a_215^post41, x_SLAM_f_18^0'=x_SLAM_f_18^post41, __disjvr_21^0'=__disjvr_21^post41, __disjvr_3^0'=__disjvr_3^post41, result_11^0'=result_11^post41, __disjvr_14^0'=__disjvr_14^post41, head_129^0'=head_129^post41, __disjvr_24^0'=__disjvr_24^post41, len_183^0'=len_183^post41, __disjvr_8^0'=__disjvr_8^post41, a_116^0'=a_116^post41, tmp_34^0'=tmp_34^post41, __disjvr_19^0'=__disjvr_19^post41, head_SLAM_f_26^0'=head_SLAM_f_26^post41, __disjvr_29^0'=__disjvr_29^post41, r_39^0'=r_39^post41, __disjvr_11^0'=__disjvr_11^post41, a_260^0'=a_260^post41, i_30^0'=i_30^post41, __disjvr_5^0'=__disjvr_5^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, __disjvr_16^0'=__disjvr_16^post41, head_175^0'=head_175^post41, __disjvr_26^0'=__disjvr_26^post41, nondet_12^0'=nondet_12^post41, a_184^0'=a_184^post41, x_20^0'=x_20^post41, __disjvr_20^0'=__disjvr_20^post41, i_167^0'=i_167^post41, __disjvr_30^0'=__disjvr_30^post41, rcd_88^0'=rcd_88^post41, __disjvr_13^0'=__disjvr_13^post41, f_170^0'=f_170^post41, __disjvr_23^0'=__disjvr_23^post41, len_132^0'=len_132^post41, __disjvr_7^0'=__disjvr_7^post41, temp0_15^0'=temp0_15^post41, temp_35^0'=temp_35^post41, __disjvr_18^0'=__disjvr_18^post41, head_32^0'=head_32^post41, __disjvr_28^0'=__disjvr_28^post41, r_163^0'=r_163^post41, __disjvr_10^0'=__disjvr_10^post41, a_237^0'=a_237^post41, y_19^0'=y_19^post41, __disjvr_22^0'=__disjvr_22^post41, __disjvr_4^0'=__disjvr_4^post41, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41, __disjvr_15^0'=__disjvr_15^post41, head_14^0'=head_14^post41, __disjvr_25^0'=__disjvr_25^post41, length_29^0'=length_29^post41, __disjvr_9^0'=__disjvr_9^post41, a_147^0'=a_147^post41, x_16^0'=x_16^post41, __disjvr_1^0'=__disjvr_1^post41, i_108^0'=i_108^post41, __disjvr_2^0'=__disjvr_2^post41, rcd_58^0'=rcd_58^post41, __disjvr_12^0'=__disjvr_12^post41, ct_17^0'=ct_17^post41, i_94^0'=i_94^post41, __disjvr_6^0'=__disjvr_6^post41, t_23^0'=t_23^post41, temp0_31^0'=temp0_31^post41, __disjvr_17^0'=__disjvr_17^post41, head_27^0'=head_27^post41, __disjvr_27^0'=__disjvr_27^post41, r_124^0'=r_124^post41, (0 == 0 /\ a_215^0-a_215^post41 == 0 /\ -__disjvr_1^post41+__disjvr_1^0 == 0 /\ -head_175^post41+head_175^0 == 0 /\ -head_14^post41+head_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post41 == 0 /\ -__disjvr_27^post41+__disjvr_27^0 == 0 /\ x_SLAM_f_18^post41-x_20^post41 <= 0 /\ -t_23^post41+t_23^0 == 0 /\ -rcd_58^post41+rcd_58^0 == 0 /\ __disjvr_29^0-__disjvr_29^post41 == 0 /\ -ct_17^post41 <= 0 /\ -i_94^post41+i_94^0 == 0 /\ ct_17^post41 <= 0 /\ ct_17^post41 == 0 /\ temp_35^0-temp_35^post41 == 0 /\ i_30^0-i_30^post41 == 0 /\ -__disjvr_17^post41+__disjvr_17^0 == 0 /\ -__disjvr_16^post41+__disjvr_16^0 == 0 /\ -__disjvr_15^post41+__disjvr_15^0 == 0 /\ __disjvr_12^0-__disjvr_12^post41 == 0 /\ r_163^0-r_163^post41 == 0 /\ __disjvr_2^0-__disjvr_2^post41 == 0 /\ -len_132^0 <= 0 /\ -a_184^post41+a_184^0 == 0 /\ __disjvr_10^0-__disjvr_10^post41 == 0 /\ -x_SLAM_f_18^post41+x_20^post41 <= 0 /\ -x_SLAM_f_18^post41+x_20^post41 == 0 /\ -__disjvr_6^post41+__disjvr_6^0 == 0 /\ f_170^0-f_170^post41 == 0 /\ -length_29^post41+length_29^0 == 0 /\ head_129^0-head_129^post41 == 0 /\ __disjvr_20^0-__disjvr_20^post41 == 0 /\ -__disjvr_23^post41+__disjvr_23^0 == 0 /\ -__disjvr_8^post41+__disjvr_8^0 == 0 /\ __disjvr_19^0-__disjvr_19^post41 == 0 /\ a_116^0-a_116^post41 == 0 /\ i_108^0-i_108^post41 == 0 /\ nondet_12^0-nondet_12^post41 == 0 /\ a_260^0-a_260^post41 == 0 /\ tmp_34^0-tmp_34^post41 == 0 /\ -temp0_31^post41+temp0_31^0 == 0 /\ __disjvr_25^0-__disjvr_25^post41 == 0 /\ -y_19^post41 <= 0 /\ result_11^0-result_11^post41 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post41+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_3^0-__disjvr_3^post41 == 0 /\ x_16^post41-x_SLAM_f_18^post41 <= 0 /\ __disjvr_7^0-__disjvr_7^post41 == 0 /\ -x_SLAM_f_18^post41+head_14^0 <= 0 /\ -temp0_15^post41+temp0_15^0 == 0 /\ -i_167^post41+i_167^0 == 0 /\ -x_16^post41+head_14^0 <= 0 /\ -head_27^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post41 == 0 /\ head_14^0-x_20^post41 <= 0 /\ -__disjvr_18^post41+__disjvr_18^0 == 0 /\ -__disjvr_9^post41+__disjvr_9^0 == 0 /\ r_39^0-r_39^post41 == 0 /\ -ct_17^post41+y_19^post41 <= 0 /\ -ct_17^post41+y_19^post41 == 0 /\ __disjvr_4^0-__disjvr_4^post41 == 0 /\ __disjvr_26^0-__disjvr_26^post41 == 0 /\ -a_237^post41+a_237^0 == 0 /\ __disjvr_30^0-__disjvr_30^post41 == 0 /\ -a_147^0 <= 0 /\ -__disjvr_28^post41+__disjvr_28^0 == 0 /\ __disjvr_5^0-__disjvr_5^post41 == 0 /\ -a_147^post41+a_147^0 == 0 /\ -r_124^post41+r_124^0 == 0 /\ __disjvr_14^0-__disjvr_14^post41 == 0 /\ -rcd_88^post41+rcd_88^0 == 0 /\ -x_16^post41+x_SLAM_f_18^post41 <= 0 /\ -x_16^post41+x_SLAM_f_18^post41 == 0 /\ __disjvr_21^0-__disjvr_21^post41 == 0 /\ y_19^post41 <= 0 /\ -__disjvr_22^post41+__disjvr_22^0 == 0 /\ x_SLAM_f_18^post41-head_14^0 <= 0 /\ head_32^0-head_32^post41 == 0 /\ __disjvr_11^0-__disjvr_11^post41 == 0 /\ x_16^post41-head_14^0 <= 0 /\ x_16^post41-head_14^0 == 0 /\ len_183^0-len_183^post41 == 0 /\ -len_132^post41+len_132^0 == 0 /\ head_27^0 <= 0 /\ -__disjvr_13^post41+__disjvr_13^0 == 0 /\ -head_14^0+x_20^post41 <= 0 /\ ct_17^post41-y_19^post41 <= 0), cost: 1
New rule:
l41 -> l42 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l42 -> l43 : __disjvr_0^0'=__disjvr_0^post42, a_215^0'=a_215^post42, x_SLAM_f_18^0'=x_SLAM_f_18^post42, __disjvr_21^0'=__disjvr_21^post42, __disjvr_3^0'=__disjvr_3^post42, result_11^0'=result_11^post42, __disjvr_14^0'=__disjvr_14^post42, head_129^0'=head_129^post42, __disjvr_24^0'=__disjvr_24^post42, len_183^0'=len_183^post42, __disjvr_8^0'=__disjvr_8^post42, a_116^0'=a_116^post42, tmp_34^0'=tmp_34^post42, __disjvr_19^0'=__disjvr_19^post42, head_SLAM_f_26^0'=head_SLAM_f_26^post42, __disjvr_29^0'=__disjvr_29^post42, r_39^0'=r_39^post42, __disjvr_11^0'=__disjvr_11^post42, a_260^0'=a_260^post42, i_30^0'=i_30^post42, __disjvr_5^0'=__disjvr_5^post42, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post42, __disjvr_16^0'=__disjvr_16^post42, head_175^0'=head_175^post42, __disjvr_26^0'=__disjvr_26^post42, nondet_12^0'=nondet_12^post42, a_184^0'=a_184^post42, x_20^0'=x_20^post42, __disjvr_20^0'=__disjvr_20^post42, i_167^0'=i_167^post42, __disjvr_30^0'=__disjvr_30^post42, rcd_88^0'=rcd_88^post42, __disjvr_13^0'=__disjvr_13^post42, f_170^0'=f_170^post42, __disjvr_23^0'=__disjvr_23^post42, len_132^0'=len_132^post42, __disjvr_7^0'=__disjvr_7^post42, temp0_15^0'=temp0_15^post42, temp_35^0'=temp_35^post42, __disjvr_18^0'=__disjvr_18^post42, head_32^0'=head_32^post42, __disjvr_28^0'=__disjvr_28^post42, r_163^0'=r_163^post42, __disjvr_10^0'=__disjvr_10^post42, a_237^0'=a_237^post42, y_19^0'=y_19^post42, __disjvr_22^0'=__disjvr_22^post42, __disjvr_4^0'=__disjvr_4^post42, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42, __disjvr_15^0'=__disjvr_15^post42, head_14^0'=head_14^post42, __disjvr_25^0'=__disjvr_25^post42, length_29^0'=length_29^post42, __disjvr_9^0'=__disjvr_9^post42, a_147^0'=a_147^post42, x_16^0'=x_16^post42, __disjvr_1^0'=__disjvr_1^post42, i_108^0'=i_108^post42, __disjvr_2^0'=__disjvr_2^post42, rcd_58^0'=rcd_58^post42, __disjvr_12^0'=__disjvr_12^post42, ct_17^0'=ct_17^post42, i_94^0'=i_94^post42, __disjvr_6^0'=__disjvr_6^post42, t_23^0'=t_23^post42, temp0_31^0'=temp0_31^post42, __disjvr_17^0'=__disjvr_17^post42, head_27^0'=head_27^post42, __disjvr_27^0'=__disjvr_27^post42, r_124^0'=r_124^post42, (__disjvr_1^0-__disjvr_1^post42 == 0 /\ -__disjvr_26^post42+__disjvr_26^0 == 0 /\ __disjvr_5^0-__disjvr_5^post42 == 0 /\ -__disjvr_9^post42+__disjvr_9^0 == 0 /\ -temp0_31^post42+temp0_31^0 == 0 /\ head_129^0-head_129^post42 == 0 /\ __disjvr_19^0-__disjvr_19^post42 == 0 /\ -__disjvr_30^post42+__disjvr_30^0 == 0 /\ a_116^0-a_116^post42 == 0 /\ -f_170^post42+f_170^0 == 0 /\ x_16^0-x_16^post42 == 0 /\ -i_108^post42+i_108^0 == 0 /\ -head_27^post42+head_27^0 == 0 /\ -i_30^post42+i_30^0 == 0 /\ -__disjvr_12^post42+__disjvr_12^0 == 0 /\ a_260^0-a_260^post42 == 0 /\ __disjvr_23^0-__disjvr_23^post42 == 0 /\ tmp_34^0-tmp_34^post42 == 0 /\ __disjvr_0^0-__disjvr_0^post42 == 0 /\ x_20^0-x_20^post42 == 0 /\ -__disjvr_4^post42+__disjvr_4^0 == 0 /\ __disjvr_28^0-__disjvr_28^post42 == 0 /\ -r_124^post42+r_124^0 == 0 /\ -__disjvr_25^post42+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post42 == 0 /\ __disjvr_16^0-__disjvr_16^post42 == 0 /\ -a_147^post42+a_147^0 == 0 /\ rcd_58^0-rcd_58^post42 == 0 /\ -__disjvr_22^post42+__disjvr_22^0 == 0 /\ len_132^0-len_132^post42 == 0 /\ -__disjvr_13^post42+__disjvr_13^0 == 0 /\ -__disjvr_29^post42+__disjvr_29^0 == 0 /\ -ct_17^post42+ct_17^0 == 0 /\ -__disjvr_2^post42+__disjvr_2^0 == 0 /\ -head_14^post42+head_14^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post42 == 0 /\ temp0_15^0-temp0_15^post42 == 0 /\ len_183^0-len_183^post42 == 0 /\ -__disjvr_14^post42+__disjvr_14^0 == 0 /\ -__disjvr_27^post42+__disjvr_27^0 == 0 /\ -length_29^post42+length_29^0 == 0 /\ -__disjvr_20^post42+__disjvr_20^0 == 0 /\ -t_23^post42+t_23^0 == 0 /\ rcd_88^0-rcd_88^post42 == 0 /\ -r_163^post42+r_163^0 == 0 /\ a_237^0-a_237^post42 == 0 /\ -head_32^post42+head_32^0 == 0 /\ a_184^0-a_184^post42 == 0 /\ __disjvr_21^0-__disjvr_21^post42 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post42 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post42 == 0 /\ nondet_12^0-nondet_12^post42 == 0 /\ -i_94^post42+i_94^0 == 0 /\ a_215^0-a_215^post42 == 0 /\ __disjvr_15^0-__disjvr_15^post42 == 0 /\ -__disjvr_11^post42+__disjvr_11^0 == 0 /\ -y_19^post42+y_19^0 == 0 /\ -temp_35^post42+temp_35^0 == 0 /\ result_11^0-result_11^post42 == 0 /\ __disjvr_24^0-__disjvr_24^post42 == 0 /\ -__disjvr_17^post42+__disjvr_17^0 == 0 /\ __disjvr_20^post42-__disjvr_20^0 == 0 /\ -__disjvr_7^post42+__disjvr_7^0 == 0 /\ -__disjvr_6^post42+__disjvr_6^0 == 0 /\ head_175^0-head_175^post42 == 0 /\ __disjvr_18^0-__disjvr_18^post42 == 0 /\ r_39^0-r_39^post42 == 0 /\ i_167^0-i_167^post42 == 0 /\ -__disjvr_10^post42+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post42 == 0 /\ __disjvr_3^0-__disjvr_3^post42 == 0), cost: 1
New rule:
l42 -> l43 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l43 -> l18 : __disjvr_0^0'=__disjvr_0^post43, a_215^0'=a_215^post43, x_SLAM_f_18^0'=x_SLAM_f_18^post43, __disjvr_21^0'=__disjvr_21^post43, __disjvr_3^0'=__disjvr_3^post43, result_11^0'=result_11^post43, __disjvr_14^0'=__disjvr_14^post43, head_129^0'=head_129^post43, __disjvr_24^0'=__disjvr_24^post43, len_183^0'=len_183^post43, __disjvr_8^0'=__disjvr_8^post43, a_116^0'=a_116^post43, tmp_34^0'=tmp_34^post43, __disjvr_19^0'=__disjvr_19^post43, head_SLAM_f_26^0'=head_SLAM_f_26^post43, __disjvr_29^0'=__disjvr_29^post43, r_39^0'=r_39^post43, __disjvr_11^0'=__disjvr_11^post43, a_260^0'=a_260^post43, i_30^0'=i_30^post43, __disjvr_5^0'=__disjvr_5^post43, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post43, __disjvr_16^0'=__disjvr_16^post43, head_175^0'=head_175^post43, __disjvr_26^0'=__disjvr_26^post43, nondet_12^0'=nondet_12^post43, a_184^0'=a_184^post43, x_20^0'=x_20^post43, __disjvr_20^0'=__disjvr_20^post43, i_167^0'=i_167^post43, __disjvr_30^0'=__disjvr_30^post43, rcd_88^0'=rcd_88^post43, __disjvr_13^0'=__disjvr_13^post43, f_170^0'=f_170^post43, __disjvr_23^0'=__disjvr_23^post43, len_132^0'=len_132^post43, __disjvr_7^0'=__disjvr_7^post43, temp0_15^0'=temp0_15^post43, temp_35^0'=temp_35^post43, __disjvr_18^0'=__disjvr_18^post43, head_32^0'=head_32^post43, __disjvr_28^0'=__disjvr_28^post43, r_163^0'=r_163^post43, __disjvr_10^0'=__disjvr_10^post43, a_237^0'=a_237^post43, y_19^0'=y_19^post43, __disjvr_22^0'=__disjvr_22^post43, __disjvr_4^0'=__disjvr_4^post43, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43, __disjvr_15^0'=__disjvr_15^post43, head_14^0'=head_14^post43, __disjvr_25^0'=__disjvr_25^post43, length_29^0'=length_29^post43, __disjvr_9^0'=__disjvr_9^post43, a_147^0'=a_147^post43, x_16^0'=x_16^post43, __disjvr_1^0'=__disjvr_1^post43, i_108^0'=i_108^post43, __disjvr_2^0'=__disjvr_2^post43, rcd_58^0'=rcd_58^post43, __disjvr_12^0'=__disjvr_12^post43, ct_17^0'=ct_17^post43, i_94^0'=i_94^post43, __disjvr_6^0'=__disjvr_6^post43, t_23^0'=t_23^post43, temp0_31^0'=temp0_31^post43, __disjvr_17^0'=__disjvr_17^post43, head_27^0'=head_27^post43, __disjvr_27^0'=__disjvr_27^post43, r_124^0'=r_124^post43, (-a_260^post43+a_260^0 == 0 /\ -i_94^post43+i_94^0 == 0 /\ a_215^0-a_215^post43 == 0 /\ -head_14^post43+head_14^0 == 0 /\ -__disjvr_27^post43+__disjvr_27^0 == 0 /\ -length_29^post43+length_29^0 == 0 /\ -__disjvr_23^post43+__disjvr_23^0 == 0 /\ -__disjvr_1^post43+__disjvr_1^0 == 0 /\ result_11^0-result_11^post43 == 0 /\ __disjvr_24^0-__disjvr_24^post43 == 0 /\ -len_132^post43+len_132^0 == 0 /\ -__disjvr_5^post43+__disjvr_5^0 == 0 /\ -a_147^post43+a_147^0 == 0 /\ __disjvr_30^0-__disjvr_30^post43 == 0 /\ -t_23^post43+t_23^0 == 0 /\ -r_124^post43+r_124^0 == 0 /\ -rcd_58^post43+rcd_58^0 == 0 /\ tmp_34^0-tmp_34^post43 == 0 /\ -head_175^post43+head_175^0 == 0 /\ __disjvr_7^0-__disjvr_7^post43 == 0 /\ -x_16^post43+x_16^0 == 0 /\ len_183^0-len_183^post43 == 0 /\ -y_19^post43+y_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post43 == 0 /\ r_163^0-r_163^post43 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post43+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_15^post43+__disjvr_15^0 == 0 /\ -__disjvr_17^post43+__disjvr_17^0 == 0 /\ -__disjvr_6^post43+__disjvr_6^0 == 0 /\ __disjvr_11^0-__disjvr_11^post43 == 0 /\ head_32^0-head_32^post43 == 0 /\ -__disjvr_10^post43+__disjvr_10^0 == 0 /\ head_129^0-head_129^post43 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post43 == 0 /\ __disjvr_21^0-__disjvr_21^post43 == 0 /\ a_184^0-a_184^post43 == 0 /\ a_116^0-a_116^post43 == 0 /\ __disjvr_28^0-__disjvr_28^post43 == 0 /\ -__disjvr_13^post43+__disjvr_13^0 == 0 /\ __disjvr_16^0-__disjvr_16^post43 == 0 /\ -temp0_31^post43+temp0_31^0 == 0 /\ f_170^0-f_170^post43 == 0 /\ __disjvr_29^0-__disjvr_29^post43 == 0 /\ i_167^0-i_167^post43 == 0 /\ i_30^0-i_30^post43 == 0 /\ -temp0_15^post43+temp0_15^0 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -r_39^post43+r_39^0 == 0 /\ -i_108^post43+i_108^0 == 0 /\ -temp_35^post43+temp_35^0 == 0 /\ __disjvr_0^0-__disjvr_0^post43 == 0 /\ -__disjvr_12^post43+__disjvr_12^0 == 0 /\ __disjvr_8^0-__disjvr_8^post43 == 0 /\ -head_27^post43+head_27^0 == 0 /\ __disjvr_3^0-__disjvr_3^post43 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post43 == 0 /\ __disjvr_14^0-__disjvr_14^post43 == 0 /\ -a_237^post43+a_237^0 == 0 /\ -nondet_12^post43+nondet_12^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post43 == 0 /\ -__disjvr_25^post43+__disjvr_25^0 == 0 /\ -__disjvr_18^post43+__disjvr_18^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post43 == 0 /\ -__disjvr_9^post43+__disjvr_9^0 == 0 /\ -rcd_88^post43+rcd_88^0 == 0 /\ __disjvr_4^0-__disjvr_4^post43 == 0 /\ __disjvr_20^0-__disjvr_20^post43 == 0 /\ __disjvr_19^0-__disjvr_19^post43 == 0 /\ -x_20^post43+x_20^0 == 0 /\ -ct_17^post43+ct_17^0 == 0 /\ -__disjvr_2^post43+__disjvr_2^0 == 0), cost: 1
New rule:
l43 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l41 -> l45 : __disjvr_0^0'=__disjvr_0^post44, a_215^0'=a_215^post44, x_SLAM_f_18^0'=x_SLAM_f_18^post44, __disjvr_21^0'=__disjvr_21^post44, __disjvr_3^0'=__disjvr_3^post44, result_11^0'=result_11^post44, __disjvr_14^0'=__disjvr_14^post44, head_129^0'=head_129^post44, __disjvr_24^0'=__disjvr_24^post44, len_183^0'=len_183^post44, __disjvr_8^0'=__disjvr_8^post44, a_116^0'=a_116^post44, tmp_34^0'=tmp_34^post44, __disjvr_19^0'=__disjvr_19^post44, head_SLAM_f_26^0'=head_SLAM_f_26^post44, __disjvr_29^0'=__disjvr_29^post44, r_39^0'=r_39^post44, __disjvr_11^0'=__disjvr_11^post44, a_260^0'=a_260^post44, i_30^0'=i_30^post44, __disjvr_5^0'=__disjvr_5^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, __disjvr_16^0'=__disjvr_16^post44, head_175^0'=head_175^post44, __disjvr_26^0'=__disjvr_26^post44, nondet_12^0'=nondet_12^post44, a_184^0'=a_184^post44, x_20^0'=x_20^post44, __disjvr_20^0'=__disjvr_20^post44, i_167^0'=i_167^post44, __disjvr_30^0'=__disjvr_30^post44, rcd_88^0'=rcd_88^post44, __disjvr_13^0'=__disjvr_13^post44, f_170^0'=f_170^post44, __disjvr_23^0'=__disjvr_23^post44, len_132^0'=len_132^post44, __disjvr_7^0'=__disjvr_7^post44, temp0_15^0'=temp0_15^post44, temp_35^0'=temp_35^post44, __disjvr_18^0'=__disjvr_18^post44, head_32^0'=head_32^post44, __disjvr_28^0'=__disjvr_28^post44, r_163^0'=r_163^post44, __disjvr_10^0'=__disjvr_10^post44, a_237^0'=a_237^post44, y_19^0'=y_19^post44, __disjvr_22^0'=__disjvr_22^post44, __disjvr_4^0'=__disjvr_4^post44, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44, __disjvr_15^0'=__disjvr_15^post44, head_14^0'=head_14^post44, __disjvr_25^0'=__disjvr_25^post44, length_29^0'=length_29^post44, __disjvr_9^0'=__disjvr_9^post44, a_147^0'=a_147^post44, x_16^0'=x_16^post44, __disjvr_1^0'=__disjvr_1^post44, i_108^0'=i_108^post44, __disjvr_2^0'=__disjvr_2^post44, rcd_58^0'=rcd_58^post44, __disjvr_12^0'=__disjvr_12^post44, ct_17^0'=ct_17^post44, i_94^0'=i_94^post44, __disjvr_6^0'=__disjvr_6^post44, t_23^0'=t_23^post44, temp0_31^0'=temp0_31^post44, __disjvr_17^0'=__disjvr_17^post44, head_27^0'=head_27^post44, __disjvr_27^0'=__disjvr_27^post44, r_124^0'=r_124^post44, (0 == 0 /\ __disjvr_14^0-__disjvr_14^post44 == 0 /\ -__disjvr_13^post44+__disjvr_13^0 == 0 /\ len_183^0-len_183^post44 == 0 /\ -temp0_31^post44+temp0_31^0 == 0 /\ temp0_15^0-temp0_15^post44 == 0 /\ -__disjvr_4^post44+__disjvr_4^0 == 0 /\ -i_167^post44+i_167^0 == 0 /\ __disjvr_2^0-__disjvr_2^post44 == 0 /\ -__disjvr_26^post44+__disjvr_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post44 == 0 /\ -i_108^post44+i_108^0 == 0 /\ -__disjvr_12^post44+__disjvr_12^0 == 0 /\ __disjvr_10^0-__disjvr_10^post44 == 0 /\ -x_16^post44+x_16^0 == 0 /\ __disjvr_21^0-__disjvr_21^post44 == 0 /\ -__disjvr_25^post44+__disjvr_25^0 == 0 /\ a_116^0-a_116^post44 == 0 /\ __disjvr_18^0-__disjvr_18^post44 == 0 /\ __disjvr_24^0-__disjvr_24^post44 == 0 /\ -len_132^0 <= 0 /\ x_20^0-x_20^post44 == 0 /\ result_11^0-result_11^post44 == 0 /\ -a_237^post44+a_237^0 == 0 /\ __disjvr_3^0-__disjvr_3^post44 == 0 /\ i_30^0-i_30^post44 == 0 /\ -__disjvr_9^post44+__disjvr_9^0 == 0 /\ -__disjvr_22^post44+__disjvr_22^0 == 0 /\ __disjvr_0^0-__disjvr_0^post44 == 0 /\ __disjvr_23^0-__disjvr_23^post44 == 0 /\ -rcd_88^post44+rcd_88^0 == 0 /\ -ct_17^post44+ct_17^0 == 0 /\ -__disjvr_28^post44+__disjvr_28^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post44 == 0 /\ __disjvr_5^0-__disjvr_5^post44 == 0 /\ -t_23^post44+t_23^0 == 0 /\ temp_35^0-temp_35^post44 == 0 /\ -__disjvr_1^post44+__disjvr_1^0 == 0 /\ i_94^0-i_94^post44 == 0 /\ -length_29^post44+length_29^0 == 0 /\ -r_163^post44+r_163^0 == 0 /\ nondet_12^0-nondet_12^post44 == 0 /\ __disjvr_11^0-__disjvr_11^post44 == 0 /\ -r_124^post44+r_124^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post44 == 0 /\ -len_132^post44+len_132^0 == 0 /\ head_129^0-head_129^post44 == 0 /\ -a_147^post44+a_147^0 == 0 /\ a_184^0-a_184^post44 == 0 /\ a_260^0-a_260^post44 == 0 /\ __disjvr_20^0-__disjvr_20^post44 == 0 /\ -rcd_58^post44+rcd_58^0 == 0 /\ -head_32^post44+head_32^0 == 0 /\ -head_27^post44+head_27^0 == 0 /\ a_215^0-a_215^post44 == 0 /\ -__disjvr_17^post44+__disjvr_17^0 == 0 /\ -a_147^0 <= 0 /\ -__disjvr_6^post44+__disjvr_6^0 == 0 /\ __disjvr_29^0-__disjvr_29^post44 == 0 /\ y_19^0-y_19^post44 == 0 /\ -__disjvr_27^post44+__disjvr_27^0 == 0 /\ -__disjvr_15^post44+__disjvr_15^0 == 0 /\ -__disjvr_16^post44+__disjvr_16^0 == 0 /\ -__disjvr_30^post44+__disjvr_30^0 == 0 /\ __disjvr_8^0-__disjvr_8^post44 == 0 /\ __disjvr_7^0-__disjvr_7^post44 == 0 /\ tmp_34^0-tmp_34^post44 == 0), cost: 1
New rule:
l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1

Applied preprocessing
Original rule:
l45 -> l46 : __disjvr_0^0'=__disjvr_0^post45, a_215^0'=a_215^post45, x_SLAM_f_18^0'=x_SLAM_f_18^post45, __disjvr_21^0'=__disjvr_21^post45, __disjvr_3^0'=__disjvr_3^post45, result_11^0'=result_11^post45, __disjvr_14^0'=__disjvr_14^post45, head_129^0'=head_129^post45, __disjvr_24^0'=__disjvr_24^post45, len_183^0'=len_183^post45, __disjvr_8^0'=__disjvr_8^post45, a_116^0'=a_116^post45, tmp_34^0'=tmp_34^post45, __disjvr_19^0'=__disjvr_19^post45, head_SLAM_f_26^0'=head_SLAM_f_26^post45, __disjvr_29^0'=__disjvr_29^post45, r_39^0'=r_39^post45, __disjvr_11^0'=__disjvr_11^post45, a_260^0'=a_260^post45, i_30^0'=i_30^post45, __disjvr_5^0'=__disjvr_5^post45, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post45, __disjvr_16^0'=__disjvr_16^post45, head_175^0'=head_175^post45, __disjvr_26^0'=__disjvr_26^post45, nondet_12^0'=nondet_12^post45, a_184^0'=a_184^post45, x_20^0'=x_20^post45, __disjvr_20^0'=__disjvr_20^post45, i_167^0'=i_167^post45, __disjvr_30^0'=__disjvr_30^post45, rcd_88^0'=rcd_88^post45, __disjvr_13^0'=__disjvr_13^post45, f_170^0'=f_170^post45, __disjvr_23^0'=__disjvr_23^post45, len_132^0'=len_132^post45, __disjvr_7^0'=__disjvr_7^post45, temp0_15^0'=temp0_15^post45, temp_35^0'=temp_35^post45, __disjvr_18^0'=__disjvr_18^post45, head_32^0'=head_32^post45, __disjvr_28^0'=__disjvr_28^post45, r_163^0'=r_163^post45, __disjvr_10^0'=__disjvr_10^post45, a_237^0'=a_237^post45, y_19^0'=y_19^post45, __disjvr_22^0'=__disjvr_22^post45, __disjvr_4^0'=__disjvr_4^post45, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45, __disjvr_15^0'=__disjvr_15^post45, head_14^0'=head_14^post45, __disjvr_25^0'=__disjvr_25^post45, length_29^0'=length_29^post45, __disjvr_9^0'=__disjvr_9^post45, a_147^0'=a_147^post45, x_16^0'=x_16^post45, __disjvr_1^0'=__disjvr_1^post45, i_108^0'=i_108^post45, __disjvr_2^0'=__disjvr_2^post45, rcd_58^0'=rcd_58^post45, __disjvr_12^0'=__disjvr_12^post45, ct_17^0'=ct_17^post45, i_94^0'=i_94^post45, __disjvr_6^0'=__disjvr_6^post45, t_23^0'=t_23^post45, temp0_31^0'=temp0_31^post45, __disjvr_17^0'=__disjvr_17^post45, head_27^0'=head_27^post45, __disjvr_27^0'=__disjvr_27^post45, r_124^0'=r_124^post45, (__disjvr_21^0-__disjvr_21^post45 == 0 /\ -__disjvr_20^post45+__disjvr_20^0 == 0 /\ -__disjvr_1^post45+__disjvr_1^0 == 0 /\ x_16^0-x_16^post45 == 0 /\ -__disjvr_23^post45+__disjvr_23^0 == 0 /\ __disjvr_9^0-__disjvr_9^post45 == 0 /\ result_11^0-result_11^post45 == 0 /\ -__disjvr_27^post45+__disjvr_27^0 == 0 /\ -head_14^post45+head_14^0 == 0 /\ -__disjvr_5^post45+__disjvr_5^0 == 0 /\ -t_23^post45+t_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post45 == 0 /\ -rcd_58^post45+rcd_58^0 == 0 /\ i_167^0-i_167^post45 == 0 /\ -head_32^post45+head_32^0 == 0 /\ -a_147^post45+a_147^0 == 0 /\ -i_94^post45+i_94^0 == 0 /\ __disjvr_0^0-__disjvr_0^post45 == 0 /\ -__disjvr_21^0+__disjvr_21^post45 == 0 /\ -head_27^post45+head_27^0 == 0 /\ -f_170^post45+f_170^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post45 == 0 /\ -__disjvr_17^post45+__disjvr_17^0 == 0 /\ -__disjvr_6^post45+__disjvr_6^0 == 0 /\ -y_19^post45+y_19^0 == 0 /\ __disjvr_26^0-__disjvr_26^post45 == 0 /\ rcd_88^0-rcd_88^post45 == 0 /\ -r_163^post45+r_163^0 == 0 /\ __disjvr_14^0-__disjvr_14^post45 == 0 /\ -__disjvr_15^post45+__disjvr_15^0 == 0 /\ __disjvr_13^0-__disjvr_13^post45 == 0 /\ a_184^0-a_184^post45 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post45+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post45+a_116^0 == 0 /\ -__disjvr_10^post45+__disjvr_10^0 == 0 /\ __disjvr_28^0-__disjvr_28^post45 == 0 /\ -a_260^post45+a_260^0 == 0 /\ ct_17^0-ct_17^post45 == 0 /\ -__disjvr_29^post45+__disjvr_29^0 == 0 /\ a_215^0-a_215^post45 == 0 /\ -temp0_31^post45+temp0_31^0 == 0 /\ -__disjvr_12^post45+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post45 == 0 /\ i_30^0-i_30^post45 == 0 /\ -__disjvr_4^post45+__disjvr_4^0 == 0 /\ __disjvr_24^0-__disjvr_24^post45 == 0 /\ head_175^0-head_175^post45 == 0 /\ -i_108^post45+i_108^0 == 0 /\ len_132^0-len_132^post45 == 0 /\ __disjvr_8^0-__disjvr_8^post45 == 0 /\ -__disjvr_7^post45+__disjvr_7^0 == 0 /\ tmp_34^0-tmp_34^post45 == 0 /\ __disjvr_30^0-__disjvr_30^post45 == 0 /\ -temp_35^post45+temp_35^0 == 0 /\ len_183^0-len_183^post45 == 0 /\ -x_20^post45+x_20^0 == 0 /\ r_39^0-r_39^post45 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post45 == 0 /\ -r_124^post45+r_124^0 == 0 /\ -__disjvr_25^post45+__disjvr_25^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post45 == 0 /\ -__disjvr_2^post45+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post45 == 0 /\ -nondet_12^post45+nondet_12^0 == 0 /\ __disjvr_19^0-__disjvr_19^post45 == 0 /\ -__disjvr_22^post45+__disjvr_22^0 == 0 /\ head_129^0-head_129^post45 == 0 /\ length_29^0-length_29^post45 == 0 /\ a_237^0-a_237^post45 == 0 /\ __disjvr_16^0-__disjvr_16^post45 == 0 /\ -temp0_15^post45+temp0_15^0 == 0), cost: 1
New rule:
l45 -> l46 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l46 -> l47 : __disjvr_0^0'=__disjvr_0^post46, a_215^0'=a_215^post46, x_SLAM_f_18^0'=x_SLAM_f_18^post46, __disjvr_21^0'=__disjvr_21^post46, __disjvr_3^0'=__disjvr_3^post46, result_11^0'=result_11^post46, __disjvr_14^0'=__disjvr_14^post46, head_129^0'=head_129^post46, __disjvr_24^0'=__disjvr_24^post46, len_183^0'=len_183^post46, __disjvr_8^0'=__disjvr_8^post46, a_116^0'=a_116^post46, tmp_34^0'=tmp_34^post46, __disjvr_19^0'=__disjvr_19^post46, head_SLAM_f_26^0'=head_SLAM_f_26^post46, __disjvr_29^0'=__disjvr_29^post46, r_39^0'=r_39^post46, __disjvr_11^0'=__disjvr_11^post46, a_260^0'=a_260^post46, i_30^0'=i_30^post46, __disjvr_5^0'=__disjvr_5^post46, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post46, __disjvr_16^0'=__disjvr_16^post46, head_175^0'=head_175^post46, __disjvr_26^0'=__disjvr_26^post46, nondet_12^0'=nondet_12^post46, a_184^0'=a_184^post46, x_20^0'=x_20^post46, __disjvr_20^0'=__disjvr_20^post46, i_167^0'=i_167^post46, __disjvr_30^0'=__disjvr_30^post46, rcd_88^0'=rcd_88^post46, __disjvr_13^0'=__disjvr_13^post46, f_170^0'=f_170^post46, __disjvr_23^0'=__disjvr_23^post46, len_132^0'=len_132^post46, __disjvr_7^0'=__disjvr_7^post46, temp0_15^0'=temp0_15^post46, temp_35^0'=temp_35^post46, __disjvr_18^0'=__disjvr_18^post46, head_32^0'=head_32^post46, __disjvr_28^0'=__disjvr_28^post46, r_163^0'=r_163^post46, __disjvr_10^0'=__disjvr_10^post46, a_237^0'=a_237^post46, y_19^0'=y_19^post46, __disjvr_22^0'=__disjvr_22^post46, __disjvr_4^0'=__disjvr_4^post46, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46, __disjvr_15^0'=__disjvr_15^post46, head_14^0'=head_14^post46, __disjvr_25^0'=__disjvr_25^post46, length_29^0'=length_29^post46, __disjvr_9^0'=__disjvr_9^post46, a_147^0'=a_147^post46, x_16^0'=x_16^post46, __disjvr_1^0'=__disjvr_1^post46, i_108^0'=i_108^post46, __disjvr_2^0'=__disjvr_2^post46, rcd_58^0'=rcd_58^post46, __disjvr_12^0'=__disjvr_12^post46, ct_17^0'=ct_17^post46, i_94^0'=i_94^post46, __disjvr_6^0'=__disjvr_6^post46, t_23^0'=t_23^post46, temp0_31^0'=temp0_31^post46, __disjvr_17^0'=__disjvr_17^post46, head_27^0'=head_27^post46, __disjvr_27^0'=__disjvr_27^post46, r_124^0'=r_124^post46, (0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post46 == 0 /\ -__disjvr_16^post46+__disjvr_16^0 == 0 /\ -__disjvr_10^post46+__disjvr_10^0 == 0 /\ __disjvr_5^0-__disjvr_5^post46 == 0 /\ -head_SLAM_f_26^0+head_14^0 <= 0 /\ temp_35^0-temp_35^post46 == 0 /\ -temp0_31^post46+temp0_31^0 == 0 /\ -rcd_88^post46+rcd_88^0 == 0 /\ temp0_15^0-temp0_15^post46 == 0 /\ -a_237^post46+a_237^0 == 0 /\ r_163^0-r_163^post46 == 0 /\ __disjvr_4^0-__disjvr_4^post46 == 0 /\ head_129^0-head_129^post46 == 0 /\ -__disjvr_18^post46+__disjvr_18^0 == 0 /\ -__disjvr_13^post46+__disjvr_13^0 == 0 /\ -__disjvr_12^post46+__disjvr_12^0 == 0 /\ -i_108^post46+i_108^0 == 0 /\ a_215^0-a_215^post46 == 0 /\ -1-a_184^post46+a_147^0 <= 0 /\ f_170^0-f_170^post46 == 0 /\ -__disjvr_25^post46+__disjvr_25^0 == 0 /\ result_11^0-result_11^post46 == 0 /\ head_SLAM_f_26^0-head_14^0 <= 0 /\ nondet_12^0-nondet_12^post46 == 0 /\ i_30^0-i_30^post46 == 0 /\ -a_147^post46+a_147^0 == 0 /\ -r_124^post46+r_124^0 == 0 /\ 1-len_183^post46+len_132^0 <= 0 /\ -__disjvr_2^post46+__disjvr_2^0 == 0 /\ -__disjvr_9^post46+__disjvr_9^0 == 0 /\ -ct_17^post46+ct_17^0 == 0 /\ __disjvr_8^0-__disjvr_8^post46 == 0 /\ i_167^0-i_167^post46 == 0 /\ a_260^0-a_260^post46 == 0 /\ __disjvr_22^0-__disjvr_22^post46 == 0 /\ __disjvr_7^0-__disjvr_7^post46 == 0 /\ -__disjvr_1^post46+__disjvr_1^0 == 0 /\ -__disjvr_28^post46+__disjvr_28^0 == 0 /\ -__disjvr_27^post46+__disjvr_27^0 == 0 /\ __disjvr_14^0-__disjvr_14^post46 == 0 /\ r_39^0-r_39^post46 == 0 /\ -t_23^post46+t_23^0 == 0 /\ -__disjvr_21^post46+__disjvr_21^0 == 0 /\ __disjvr_26^0-__disjvr_26^post46 == 0 /\ -rcd_58^post46+rcd_58^0 == 0 /\ __disjvr_19^0-__disjvr_19^post46 == 0 /\ head_14^0-head_14^post46 == 0 /\ __disjvr_20^0-__disjvr_20^post46 == 0 /\ -len_132^post46+len_132^0 == 0 /\ length_29^0-length_29^post46 == 0 /\ -head_32^post46+head_32^0 == 0 /\ -f_170^0+head_27^0 <= 0 /\ -head_SLAM_f_26^post46+head_SLAM_f_26^0 == 0 /\ -i_94^post46+i_94^0 == 0 /\ -__disjvr_17^post46+__disjvr_17^0 == 0 /\ a_116^0-a_116^post46 == 0 /\ 1+a_184^post46-a_147^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post46 == 0 /\ __disjvr_0^0-__disjvr_0^post46 == 0 /\ -x_16^post46+x_16^0 == 0 /\ -head_175^post46+head_175^0 == 0 /\ x_20^0-x_20^post46 == 0 /\ -__disjvr_15^post46+__disjvr_15^0 == 0 /\ __disjvr_11^0-__disjvr_11^post46 == 0 /\ __disjvr_24^0-__disjvr_24^post46 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post46+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -1+len_183^post46-len_132^0 <= 0 /\ tmp_34^0-tmp_34^post46 == 0 /\ -__disjvr_6^post46+__disjvr_6^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post46+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_3^0-__disjvr_3^post46 == 0 /\ -head_27^post46+head_27^0 == 0 /\ f_170^0-head_27^0 <= 0 /\ -y_19^post46+y_19^0 == 0 /\ -__disjvr_30^post46+__disjvr_30^0 == 0 /\ __disjvr_23^0-__disjvr_23^post46 == 0), cost: 1
New rule:
l46 -> l47 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_SLAM_f_26^0+head_14^0 == 0 /\ -f_170^0+head_27^0 == 0), cost: 1

Applied preprocessing
Original rule:
l47 -> l48 : __disjvr_0^0'=__disjvr_0^post47, a_215^0'=a_215^post47, x_SLAM_f_18^0'=x_SLAM_f_18^post47, __disjvr_21^0'=__disjvr_21^post47, __disjvr_3^0'=__disjvr_3^post47, result_11^0'=result_11^post47, __disjvr_14^0'=__disjvr_14^post47, head_129^0'=head_129^post47, __disjvr_24^0'=__disjvr_24^post47, len_183^0'=len_183^post47, __disjvr_8^0'=__disjvr_8^post47, a_116^0'=a_116^post47, tmp_34^0'=tmp_34^post47, __disjvr_19^0'=__disjvr_19^post47, head_SLAM_f_26^0'=head_SLAM_f_26^post47, __disjvr_29^0'=__disjvr_29^post47, r_39^0'=r_39^post47, __disjvr_11^0'=__disjvr_11^post47, a_260^0'=a_260^post47, i_30^0'=i_30^post47, __disjvr_5^0'=__disjvr_5^post47, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post47, __disjvr_16^0'=__disjvr_16^post47, head_175^0'=head_175^post47, __disjvr_26^0'=__disjvr_26^post47, nondet_12^0'=nondet_12^post47, a_184^0'=a_184^post47, x_20^0'=x_20^post47, __disjvr_20^0'=__disjvr_20^post47, i_167^0'=i_167^post47, __disjvr_30^0'=__disjvr_30^post47, rcd_88^0'=rcd_88^post47, __disjvr_13^0'=__disjvr_13^post47, f_170^0'=f_170^post47, __disjvr_23^0'=__disjvr_23^post47, len_132^0'=len_132^post47, __disjvr_7^0'=__disjvr_7^post47, temp0_15^0'=temp0_15^post47, temp_35^0'=temp_35^post47, __disjvr_18^0'=__disjvr_18^post47, head_32^0'=head_32^post47, __disjvr_28^0'=__disjvr_28^post47, r_163^0'=r_163^post47, __disjvr_10^0'=__disjvr_10^post47, a_237^0'=a_237^post47, y_19^0'=y_19^post47, __disjvr_22^0'=__disjvr_22^post47, __disjvr_4^0'=__disjvr_4^post47, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47, __disjvr_15^0'=__disjvr_15^post47, head_14^0'=head_14^post47, __disjvr_25^0'=__disjvr_25^post47, length_29^0'=length_29^post47, __disjvr_9^0'=__disjvr_9^post47, a_147^0'=a_147^post47, x_16^0'=x_16^post47, __disjvr_1^0'=__disjvr_1^post47, i_108^0'=i_108^post47, __disjvr_2^0'=__disjvr_2^post47, rcd_58^0'=rcd_58^post47, __disjvr_12^0'=__disjvr_12^post47, ct_17^0'=ct_17^post47, i_94^0'=i_94^post47, __disjvr_6^0'=__disjvr_6^post47, t_23^0'=t_23^post47, temp0_31^0'=temp0_31^post47, __disjvr_17^0'=__disjvr_17^post47, head_27^0'=head_27^post47, __disjvr_27^0'=__disjvr_27^post47, r_124^0'=r_124^post47, (head_129^0-head_129^post47 == 0 /\ -head_14^post47+head_14^0 == 0 /\ -__disjvr_27^post47+__disjvr_27^0 == 0 /\ a_116^0-a_116^post47 == 0 /\ -length_29^post47+length_29^0 == 0 /\ i_30^0-i_30^post47 == 0 /\ __disjvr_23^0-__disjvr_23^post47 == 0 /\ -a_147^post47+a_147^0 == 0 /\ -t_23^post47+t_23^0 == 0 /\ -rcd_58^post47+rcd_58^0 == 0 /\ len_132^0-len_132^post47 == 0 /\ -i_94^post47+i_94^0 == 0 /\ -head_175^post47+head_175^0 == 0 /\ __disjvr_8^0-__disjvr_8^post47 == 0 /\ -x_16^post47+x_16^0 == 0 /\ rcd_88^0-rcd_88^post47 == 0 /\ __disjvr_12^0-__disjvr_12^post47 == 0 /\ -__disjvr_15^post47+__disjvr_15^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post47 == 0 /\ a_260^0-a_260^post47 == 0 /\ __disjvr_2^0-__disjvr_2^post47 == 0 /\ -__disjvr_17^post47+__disjvr_17^0 == 0 /\ -__disjvr_6^post47+__disjvr_6^0 == 0 /\ __disjvr_10^0-__disjvr_10^post47 == 0 /\ __disjvr_14^0-__disjvr_14^post47 == 0 /\ -head_27^post47+head_27^0 == 0 /\ -__disjvr_19^post47+__disjvr_19^0 == 0 /\ i_108^0-i_108^post47 == 0 /\ __disjvr_20^0-__disjvr_20^post47 == 0 /\ __disjvr_16^0-__disjvr_16^post47 == 0 /\ -__disjvr_1^post47+__disjvr_1^0 == 0 /\ -__disjvr_30^post47+__disjvr_30^0 == 0 /\ -f_170^post47+f_170^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post47+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -__disjvr_4^post47+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post47 == 0 /\ __disjvr_25^0-__disjvr_25^post47 == 0 /\ __disjvr_0^0-__disjvr_0^post47 == 0 /\ -i_167^post47+i_167^0 == 0 /\ result_11^0-result_11^post47 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post47 == 0 /\ -temp0_31^post47+temp0_31^0 == 0 /\ x_20^0-x_20^post47 == 0 /\ __disjvr_22^post47-__disjvr_22^0 == 0 /\ nondet_12^0-nondet_12^post47 == 0 /\ tmp_34^0-tmp_34^post47 == 0 /\ -a_215^post47+a_215^0 == 0 /\ y_19^0-y_19^post47 == 0 /\ -__disjvr_7^post47+__disjvr_7^0 == 0 /\ temp_35^0-temp_35^post47 == 0 /\ __disjvr_3^0-__disjvr_3^post47 == 0 /\ -__disjvr_18^post47+__disjvr_18^0 == 0 /\ -__disjvr_29^post47+__disjvr_29^0 == 0 /\ __disjvr_24^0-__disjvr_24^post47 == 0 /\ -a_237^post47+a_237^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post47 == 0 /\ r_163^0-r_163^post47 == 0 /\ len_183^0-len_183^post47 == 0 /\ -r_124^post47+r_124^0 == 0 /\ a_184^0-a_184^post47 == 0 /\ -__disjvr_26^post47+__disjvr_26^0 == 0 /\ r_39^0-r_39^post47 == 0 /\ __disjvr_5^0-__disjvr_5^post47 == 0 /\ -__disjvr_22^post47+__disjvr_22^0 == 0 /\ head_32^0-head_32^post47 == 0 /\ temp0_15^0-temp0_15^post47 == 0 /\ -__disjvr_11^post47+__disjvr_11^0 == 0 /\ -__disjvr_28^post47+__disjvr_28^0 == 0 /\ -ct_17^post47+ct_17^0 == 0 /\ -__disjvr_9^post47+__disjvr_9^0 == 0 /\ __disjvr_13^0-__disjvr_13^post47 == 0), cost: 1
New rule:
l47 -> l48 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l48 -> l49 : __disjvr_0^0'=__disjvr_0^post48, a_215^0'=a_215^post48, x_SLAM_f_18^0'=x_SLAM_f_18^post48, __disjvr_21^0'=__disjvr_21^post48, __disjvr_3^0'=__disjvr_3^post48, result_11^0'=result_11^post48, __disjvr_14^0'=__disjvr_14^post48, head_129^0'=head_129^post48, __disjvr_24^0'=__disjvr_24^post48, len_183^0'=len_183^post48, __disjvr_8^0'=__disjvr_8^post48, a_116^0'=a_116^post48, tmp_34^0'=tmp_34^post48, __disjvr_19^0'=__disjvr_19^post48, head_SLAM_f_26^0'=head_SLAM_f_26^post48, __disjvr_29^0'=__disjvr_29^post48, r_39^0'=r_39^post48, __disjvr_11^0'=__disjvr_11^post48, a_260^0'=a_260^post48, i_30^0'=i_30^post48, __disjvr_5^0'=__disjvr_5^post48, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post48, __disjvr_16^0'=__disjvr_16^post48, head_175^0'=head_175^post48, __disjvr_26^0'=__disjvr_26^post48, nondet_12^0'=nondet_12^post48, a_184^0'=a_184^post48, x_20^0'=x_20^post48, __disjvr_20^0'=__disjvr_20^post48, i_167^0'=i_167^post48, __disjvr_30^0'=__disjvr_30^post48, rcd_88^0'=rcd_88^post48, __disjvr_13^0'=__disjvr_13^post48, f_170^0'=f_170^post48, __disjvr_23^0'=__disjvr_23^post48, len_132^0'=len_132^post48, __disjvr_7^0'=__disjvr_7^post48, temp0_15^0'=temp0_15^post48, temp_35^0'=temp_35^post48, __disjvr_18^0'=__disjvr_18^post48, head_32^0'=head_32^post48, __disjvr_28^0'=__disjvr_28^post48, r_163^0'=r_163^post48, __disjvr_10^0'=__disjvr_10^post48, a_237^0'=a_237^post48, y_19^0'=y_19^post48, __disjvr_22^0'=__disjvr_22^post48, __disjvr_4^0'=__disjvr_4^post48, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48, __disjvr_15^0'=__disjvr_15^post48, head_14^0'=head_14^post48, __disjvr_25^0'=__disjvr_25^post48, length_29^0'=length_29^post48, __disjvr_9^0'=__disjvr_9^post48, a_147^0'=a_147^post48, x_16^0'=x_16^post48, __disjvr_1^0'=__disjvr_1^post48, i_108^0'=i_108^post48, __disjvr_2^0'=__disjvr_2^post48, rcd_58^0'=rcd_58^post48, __disjvr_12^0'=__disjvr_12^post48, ct_17^0'=ct_17^post48, i_94^0'=i_94^post48, __disjvr_6^0'=__disjvr_6^post48, t_23^0'=t_23^post48, temp0_31^0'=temp0_31^post48, __disjvr_17^0'=__disjvr_17^post48, head_27^0'=head_27^post48, __disjvr_27^0'=__disjvr_27^post48, r_124^0'=r_124^post48, (__disjvr_7^0-__disjvr_7^post48 == 0 /\ -temp0_31^post48+temp0_31^0 == 0 /\ a_260^0-a_260^post48 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post48+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -rcd_88^post48+rcd_88^0 == 0 /\ -__disjvr_12^post48+__disjvr_12^0 == 0 /\ a_215^0-a_215^post48 == 0 /\ __disjvr_5^0-__disjvr_5^post48 == 0 /\ __disjvr_26^0-__disjvr_26^post48 == 0 /\ -temp_35^post48+temp_35^0 == 0 /\ -x_20^post48+x_20^0 == 0 /\ -x_16^post48+x_16^0 == 0 /\ __disjvr_0^0-__disjvr_0^post48 == 0 /\ head_129^0-head_129^post48 == 0 /\ __disjvr_29^0-__disjvr_29^post48 == 0 /\ __disjvr_28^0-__disjvr_28^post48 == 0 /\ -r_124^post48+r_124^0 == 0 /\ -__disjvr_25^post48+__disjvr_25^0 == 0 /\ __disjvr_11^0-__disjvr_11^post48 == 0 /\ -i_108^post48+i_108^0 == 0 /\ -__disjvr_22^post48+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post48 == 0 /\ -temp0_15^post48+temp0_15^0 == 0 /\ len_132^0-len_132^post48 == 0 /\ rcd_58^0-rcd_58^post48 == 0 /\ len_183^0-len_183^post48 == 0 /\ -__disjvr_9^post48+__disjvr_9^0 == 0 /\ -__disjvr_2^post48+__disjvr_2^0 == 0 /\ __disjvr_30^0-__disjvr_30^post48 == 0 /\ -ct_17^post48+ct_17^0 == 0 /\ -i_94^post48+i_94^0 == 0 /\ -head_14^post48+head_14^0 == 0 /\ -tmp_34^post48+tmp_34^0 == 0 /\ -__disjvr_27^post48+__disjvr_27^0 == 0 /\ a_184^0-a_184^post48 == 0 /\ -t_23^post48+t_23^0 == 0 /\ -__disjvr_20^post48+__disjvr_20^0 == 0 /\ -nondet_12^post48+nondet_12^0 == 0 /\ -length_29^post48+length_29^0 == 0 /\ -__disjvr_23^post48+__disjvr_23^0 == 0 /\ __disjvr_3^0-__disjvr_3^post48 == 0 /\ __disjvr_13^0-__disjvr_13^post48 == 0 /\ __disjvr_4^0-__disjvr_4^post48 == 0 /\ -r_163^post48+r_163^0 == 0 /\ __disjvr_14^0-__disjvr_14^post48 == 0 /\ -a_147^post48+a_147^0 == 0 /\ __disjvr_16^0-__disjvr_16^post48 == 0 /\ __disjvr_15^0-__disjvr_15^post48 == 0 /\ -head_32^post48+head_32^0 == 0 /\ a_237^0-a_237^post48 == 0 /\ i_30^0-i_30^post48 == 0 /\ -f_170^post48+f_170^0 == 0 /\ __disjvr_18^0-__disjvr_18^post48 == 0 /\ -y_19^post48+y_19^0 == 0 /\ head_175^0-head_175^post48 == 0 /\ -__disjvr_17^post48+__disjvr_17^0 == 0 /\ -__disjvr_1^post48+__disjvr_1^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post48+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post48 == 0 /\ -__disjvr_6^post48+__disjvr_6^0 == 0 /\ result_11^0-result_11^post48 == 0 /\ __disjvr_23^post48-__disjvr_23^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post48 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post48 == 0 /\ __disjvr_8^0-__disjvr_8^post48 == 0 /\ i_167^0-i_167^post48 == 0 /\ -__disjvr_10^post48+__disjvr_10^0 == 0 /\ a_116^0-a_116^post48 == 0 /\ -r_39^post48+r_39^0 == 0 /\ -head_27^post48+head_27^0 == 0 /\ __disjvr_24^0-__disjvr_24^post48 == 0), cost: 1
New rule:
l48 -> l49 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l49 -> l44 : __disjvr_0^0'=__disjvr_0^post49, a_215^0'=a_215^post49, x_SLAM_f_18^0'=x_SLAM_f_18^post49, __disjvr_21^0'=__disjvr_21^post49, __disjvr_3^0'=__disjvr_3^post49, result_11^0'=result_11^post49, __disjvr_14^0'=__disjvr_14^post49, head_129^0'=head_129^post49, __disjvr_24^0'=__disjvr_24^post49, len_183^0'=len_183^post49, __disjvr_8^0'=__disjvr_8^post49, a_116^0'=a_116^post49, tmp_34^0'=tmp_34^post49, __disjvr_19^0'=__disjvr_19^post49, head_SLAM_f_26^0'=head_SLAM_f_26^post49, __disjvr_29^0'=__disjvr_29^post49, r_39^0'=r_39^post49, __disjvr_11^0'=__disjvr_11^post49, a_260^0'=a_260^post49, i_30^0'=i_30^post49, __disjvr_5^0'=__disjvr_5^post49, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post49, __disjvr_16^0'=__disjvr_16^post49, head_175^0'=head_175^post49, __disjvr_26^0'=__disjvr_26^post49, nondet_12^0'=nondet_12^post49, a_184^0'=a_184^post49, x_20^0'=x_20^post49, __disjvr_20^0'=__disjvr_20^post49, i_167^0'=i_167^post49, __disjvr_30^0'=__disjvr_30^post49, rcd_88^0'=rcd_88^post49, __disjvr_13^0'=__disjvr_13^post49, f_170^0'=f_170^post49, __disjvr_23^0'=__disjvr_23^post49, len_132^0'=len_132^post49, __disjvr_7^0'=__disjvr_7^post49, temp0_15^0'=temp0_15^post49, temp_35^0'=temp_35^post49, __disjvr_18^0'=__disjvr_18^post49, head_32^0'=head_32^post49, __disjvr_28^0'=__disjvr_28^post49, r_163^0'=r_163^post49, __disjvr_10^0'=__disjvr_10^post49, a_237^0'=a_237^post49, y_19^0'=y_19^post49, __disjvr_22^0'=__disjvr_22^post49, __disjvr_4^0'=__disjvr_4^post49, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49, __disjvr_15^0'=__disjvr_15^post49, head_14^0'=head_14^post49, __disjvr_25^0'=__disjvr_25^post49, length_29^0'=length_29^post49, __disjvr_9^0'=__disjvr_9^post49, a_147^0'=a_147^post49, x_16^0'=x_16^post49, __disjvr_1^0'=__disjvr_1^post49, i_108^0'=i_108^post49, __disjvr_2^0'=__disjvr_2^post49, rcd_58^0'=rcd_58^post49, __disjvr_12^0'=__disjvr_12^post49, ct_17^0'=ct_17^post49, i_94^0'=i_94^post49, __disjvr_6^0'=__disjvr_6^post49, t_23^0'=t_23^post49, temp0_31^0'=temp0_31^post49, __disjvr_17^0'=__disjvr_17^post49, head_27^0'=head_27^post49, __disjvr_27^0'=__disjvr_27^post49, r_124^0'=r_124^post49, (0 == 0 /\ -length_29^post49+length_29^0 == 0 /\ -head_27^post49+head_27^0 == 0 /\ -__disjvr_23^post49+__disjvr_23^0 == 0 /\ -i_94^post49+i_94^0 == 0 /\ -__disjvr_2^post49+__disjvr_2^0 == 0 /\ nondet_12^0-nondet_12^post49 == 0 /\ -t_23^post49+t_23^0 == 0 /\ __disjvr_8^0-__disjvr_8^post49 == 0 /\ result_11^0-result_11^post49 == 0 /\ __disjvr_21^0-__disjvr_21^post49 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post49 == 0 /\ -__disjvr_27^post49+__disjvr_27^0 == 0 /\ len_183^0-len_183^post49 == 0 /\ a_147^post49-a_184^0 <= 0 /\ -head_14^post49+head_14^0 == 0 /\ __disjvr_24^0-__disjvr_24^post49 == 0 /\ -rcd_58^post49+rcd_58^0 == 0 /\ __disjvr_30^0-__disjvr_30^post49 == 0 /\ __disjvr_3^0-__disjvr_3^post49 == 0 /\ -head_175^post49+head_175^0 == 0 /\ -temp0_31^post49+temp0_31^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post49 == 0 /\ -y_19^post49+y_19^0 == 0 /\ r_39^0-r_39^post49 == 0 /\ -a_184^post49+a_184^0 == 0 /\ -__disjvr_6^post49+__disjvr_6^0 == 0 /\ head_32^0-head_32^post49 == 0 /\ -__disjvr_1^post49+__disjvr_1^0 == 0 /\ i_108^0-i_108^post49 == 0 /\ -__disjvr_15^post49+__disjvr_15^0 == 0 /\ r_163^0-r_163^post49 == 0 /\ __disjvr_19^0-__disjvr_19^post49 == 0 /\ __disjvr_26^0-__disjvr_26^post49 == 0 /\ -a_147^post49+a_184^0 <= 0 /\ -__disjvr_10^post49+__disjvr_10^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post49+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ temp0_15^0-temp0_15^post49 == 0 /\ -__disjvr_17^post49+__disjvr_17^0 == 0 /\ -__disjvr_13^post49+__disjvr_13^0 == 0 /\ __disjvr_29^0-__disjvr_29^post49 == 0 /\ __disjvr_11^0-__disjvr_11^post49 == 0 /\ head_129^0-head_129^post49 == 0 /\ __disjvr_0^0-__disjvr_0^post49 == 0 /\ f_170^0-f_170^post49 == 0 /\ -__disjvr_16^post49+__disjvr_16^0 == 0 /\ x_20^0-x_20^post49 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post49 == 0 /\ i_167^0-i_167^post49 == 0 /\ len_183^0-len_132^post49 <= 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ a_116^0-a_116^post49 == 0 /\ -__disjvr_12^post49+__disjvr_12^0 == 0 /\ -x_16^post49+x_16^0 == 0 /\ -temp_35^post49+temp_35^0 == 0 /\ -__disjvr_18^post49+__disjvr_18^0 == 0 /\ -i_30^post49+i_30^0 == 0 /\ rcd_88^0-rcd_88^post49 == 0 /\ -__disjvr_25^post49+__disjvr_25^0 == 0 /\ -a_237^post49+a_237^0 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_22^0-__disjvr_22^post49 == 0 /\ tmp_34^0-tmp_34^post49 == 0 /\ a_260^0-a_260^post49 == 0 /\ __disjvr_7^0-__disjvr_7^post49 == 0 /\ -ct_17^post49+ct_17^0 == 0 /\ -len_183^0+len_132^post49 <= 0 /\ __disjvr_14^0-__disjvr_14^post49 == 0 /\ a_215^0-a_215^post49 == 0 /\ -__disjvr_9^post49+__disjvr_9^0 == 0 /\ __disjvr_4^0-__disjvr_4^post49 == 0 /\ -r_124^post49+r_124^0 == 0 /\ __disjvr_5^0-__disjvr_5^post49 == 0 /\ __disjvr_28^0-__disjvr_28^post49 == 0 /\ __disjvr_20^0-__disjvr_20^post49 == 0), cost: 1
New rule:
l49 -> l44 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1

Applied preprocessing
Original rule:
l44 -> l41 : __disjvr_0^0'=__disjvr_0^post50, a_215^0'=a_215^post50, x_SLAM_f_18^0'=x_SLAM_f_18^post50, __disjvr_21^0'=__disjvr_21^post50, __disjvr_3^0'=__disjvr_3^post50, result_11^0'=result_11^post50, __disjvr_14^0'=__disjvr_14^post50, head_129^0'=head_129^post50, __disjvr_24^0'=__disjvr_24^post50, len_183^0'=len_183^post50, __disjvr_8^0'=__disjvr_8^post50, a_116^0'=a_116^post50, tmp_34^0'=tmp_34^post50, __disjvr_19^0'=__disjvr_19^post50, head_SLAM_f_26^0'=head_SLAM_f_26^post50, __disjvr_29^0'=__disjvr_29^post50, r_39^0'=r_39^post50, __disjvr_11^0'=__disjvr_11^post50, a_260^0'=a_260^post50, i_30^0'=i_30^post50, __disjvr_5^0'=__disjvr_5^post50, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post50, __disjvr_16^0'=__disjvr_16^post50, head_175^0'=head_175^post50, __disjvr_26^0'=__disjvr_26^post50, nondet_12^0'=nondet_12^post50, a_184^0'=a_184^post50, x_20^0'=x_20^post50, __disjvr_20^0'=__disjvr_20^post50, i_167^0'=i_167^post50, __disjvr_30^0'=__disjvr_30^post50, rcd_88^0'=rcd_88^post50, __disjvr_13^0'=__disjvr_13^post50, f_170^0'=f_170^post50, __disjvr_23^0'=__disjvr_23^post50, len_132^0'=len_132^post50, __disjvr_7^0'=__disjvr_7^post50, temp0_15^0'=temp0_15^post50, temp_35^0'=temp_35^post50, __disjvr_18^0'=__disjvr_18^post50, head_32^0'=head_32^post50, __disjvr_28^0'=__disjvr_28^post50, r_163^0'=r_163^post50, __disjvr_10^0'=__disjvr_10^post50, a_237^0'=a_237^post50, y_19^0'=y_19^post50, __disjvr_22^0'=__disjvr_22^post50, __disjvr_4^0'=__disjvr_4^post50, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50, __disjvr_15^0'=__disjvr_15^post50, head_14^0'=head_14^post50, __disjvr_25^0'=__disjvr_25^post50, length_29^0'=length_29^post50, __disjvr_9^0'=__disjvr_9^post50, a_147^0'=a_147^post50, x_16^0'=x_16^post50, __disjvr_1^0'=__disjvr_1^post50, i_108^0'=i_108^post50, __disjvr_2^0'=__disjvr_2^post50, rcd_58^0'=rcd_58^post50, __disjvr_12^0'=__disjvr_12^post50, ct_17^0'=ct_17^post50, i_94^0'=i_94^post50, __disjvr_6^0'=__disjvr_6^post50, t_23^0'=t_23^post50, temp0_31^0'=temp0_31^post50, __disjvr_17^0'=__disjvr_17^post50, head_27^0'=head_27^post50, __disjvr_27^0'=__disjvr_27^post50, r_124^0'=r_124^post50, (rcd_88^0-rcd_88^post50 == 0 /\ __disjvr_3^0-__disjvr_3^post50 == 0 /\ -__disjvr_16^post50+__disjvr_16^0 == 0 /\ -i_167^post50+i_167^0 == 0 /\ -__disjvr_4^post50+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post50 == 0 /\ __disjvr_1^0-__disjvr_1^post50 == 0 /\ -a_237^post50+a_237^0 == 0 /\ result_11^0-result_11^post50 == 0 /\ -__disjvr_22^post50+__disjvr_22^0 == 0 /\ __disjvr_19^0-__disjvr_19^post50 == 0 /\ -__disjvr_7^post50+__disjvr_7^0 == 0 /\ -x_16^post50+x_16^0 == 0 /\ -__disjvr_13^post50+__disjvr_13^0 == 0 /\ -__disjvr_12^post50+__disjvr_12^0 == 0 /\ __disjvr_18^0-__disjvr_18^post50 == 0 /\ x_20^0-x_20^post50 == 0 /\ __disjvr_10^0-__disjvr_10^post50 == 0 /\ head_175^0-head_175^post50 == 0 /\ __disjvr_0^0-__disjvr_0^post50 == 0 /\ -__disjvr_26^post50+__disjvr_26^0 == 0 /\ ct_17^0-ct_17^post50 == 0 /\ rcd_58^0-rcd_58^post50 == 0 /\ -i_108^post50+i_108^0 == 0 /\ -r_124^post50+r_124^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post50 == 0 /\ __disjvr_2^0-__disjvr_2^post50 == 0 /\ -i_94^post50+i_94^0 == 0 /\ -i_30^post50+i_30^0 == 0 /\ __disjvr_24^0-__disjvr_24^post50 == 0 /\ -__disjvr_9^post50+__disjvr_9^0 == 0 /\ -__disjvr_25^post50+__disjvr_25^0 == 0 /\ __disjvr_23^0-__disjvr_23^post50 == 0 /\ -head_27^post50+head_27^0 == 0 /\ -length_29^post50+length_29^0 == 0 /\ -__disjvr_17^post50+__disjvr_17^0 == 0 /\ -__disjvr_28^post50+__disjvr_28^0 == 0 /\ r_39^0-r_39^post50 == 0 /\ -t_23^post50+t_23^0 == 0 /\ temp_35^0-temp_35^post50 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post50 == 0 /\ tmp_34^0-tmp_34^post50 == 0 /\ -__disjvr_27^post50+__disjvr_27^0 == 0 /\ a_215^0-a_215^post50 == 0 /\ temp0_15^0-temp0_15^post50 == 0 /\ a_184^0-a_184^post50 == 0 /\ -a_116^post50+a_116^0 == 0 /\ -len_132^post50+len_132^0 == 0 /\ -a_147^post50+a_147^0 == 0 /\ -head_14^post50+head_14^0 == 0 /\ __disjvr_20^0-__disjvr_20^post50 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post50 == 0 /\ -__disjvr_29^post50+__disjvr_29^0 == 0 /\ __disjvr_11^0-__disjvr_11^post50 == 0 /\ -temp0_31^post50+temp0_31^0 == 0 /\ -head_32^post50+head_32^0 == 0 /\ -__disjvr_6^post50+__disjvr_6^0 == 0 /\ head_129^0-head_129^post50 == 0 /\ __disjvr_21^0-__disjvr_21^post50 == 0 /\ __disjvr_8^0-__disjvr_8^post50 == 0 /\ nondet_12^0-nondet_12^post50 == 0 /\ -a_260^post50+a_260^0 == 0 /\ -r_163^post50+r_163^0 == 0 /\ -__disjvr_5^post50+__disjvr_5^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post50 == 0 /\ -__disjvr_30^post50+__disjvr_30^0 == 0 /\ len_183^0-len_183^post50 == 0 /\ -__disjvr_15^post50+__disjvr_15^0 == 0 /\ y_19^0-y_19^post50 == 0 /\ -f_170^post50+f_170^0 == 0), cost: 1
New rule:
l44 -> l41 : TRUE, cost: 1

Applied preprocessing
Original rule:
l38 -> l63 : __disjvr_0^0'=__disjvr_0^post65, a_215^0'=a_215^post65, x_SLAM_f_18^0'=x_SLAM_f_18^post65, __disjvr_21^0'=__disjvr_21^post65, __disjvr_3^0'=__disjvr_3^post65, result_11^0'=result_11^post65, __disjvr_14^0'=__disjvr_14^post65, head_129^0'=head_129^post65, __disjvr_24^0'=__disjvr_24^post65, len_183^0'=len_183^post65, __disjvr_8^0'=__disjvr_8^post65, a_116^0'=a_116^post65, tmp_34^0'=tmp_34^post65, __disjvr_19^0'=__disjvr_19^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post65, __disjvr_29^0'=__disjvr_29^post65, r_39^0'=r_39^post65, __disjvr_11^0'=__disjvr_11^post65, a_260^0'=a_260^post65, i_30^0'=i_30^post65, __disjvr_5^0'=__disjvr_5^post65, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, __disjvr_16^0'=__disjvr_16^post65, head_175^0'=head_175^post65, __disjvr_26^0'=__disjvr_26^post65, nondet_12^0'=nondet_12^post65, a_184^0'=a_184^post65, x_20^0'=x_20^post65, __disjvr_20^0'=__disjvr_20^post65, i_167^0'=i_167^post65, __disjvr_30^0'=__disjvr_30^post65, rcd_88^0'=rcd_88^post65, __disjvr_13^0'=__disjvr_13^post65, f_170^0'=f_170^post65, __disjvr_23^0'=__disjvr_23^post65, len_132^0'=len_132^post65, __disjvr_7^0'=__disjvr_7^post65, temp0_15^0'=temp0_15^post65, temp_35^0'=temp_35^post65, __disjvr_18^0'=__disjvr_18^post65, head_32^0'=head_32^post65, __disjvr_28^0'=__disjvr_28^post65, r_163^0'=r_163^post65, __disjvr_10^0'=__disjvr_10^post65, a_237^0'=a_237^post65, y_19^0'=y_19^post65, __disjvr_22^0'=__disjvr_22^post65, __disjvr_4^0'=__disjvr_4^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, __disjvr_15^0'=__disjvr_15^post65, head_14^0'=head_14^post65, __disjvr_25^0'=__disjvr_25^post65, length_29^0'=length_29^post65, __disjvr_9^0'=__disjvr_9^post65, a_147^0'=a_147^post65, x_16^0'=x_16^post65, __disjvr_1^0'=__disjvr_1^post65, i_108^0'=i_108^post65, __disjvr_2^0'=__disjvr_2^post65, rcd_58^0'=rcd_58^post65, __disjvr_12^0'=__disjvr_12^post65, ct_17^0'=ct_17^post65, i_94^0'=i_94^post65, __disjvr_6^0'=__disjvr_6^post65, t_23^0'=t_23^post65, temp0_31^0'=temp0_31^post65, __disjvr_17^0'=__disjvr_17^post65, head_27^0'=head_27^post65, __disjvr_27^0'=__disjvr_27^post65, r_124^0'=r_124^post65, (0 == 0 /\ -__disjvr_30^post65+__disjvr_30^0 == 0 /\ -head_27^post65+head_14^post65 <= 0 /\ __disjvr_10^0-__disjvr_10^post65 == 0 /\ __disjvr_21^0-__disjvr_21^post65 == 0 /\ head_175^0-head_175^post65 == 0 /\ __disjvr_24^0-__disjvr_24^post65 == 0 /\ -head_27^post65+head_SLAM_f_26^post65 <= 0 /\ -x_16^post65+x_16^0 == 0 /\ -head_32^0+temp0_31^110 == 0 /\ y_19^0-y_19^post65 == 0 /\ -head_14^post65+head_SLAM_f_26^post65 <= 0 /\ -head_14^post65+head_SLAM_f_26^post65 == 0 /\ __disjvr_22^0-__disjvr_22^post65 == 0 /\ -__disjvr_28^post65+__disjvr_28^0 == 0 /\ -__disjvr_1^post65+__disjvr_1^0 == 0 /\ -__disjvr_6^post65+__disjvr_6^0 == 0 /\ result_11^11-temp0_31^110 == 0 /\ a_147^0-a_147^post65 == 0 /\ __disjvr_23^0-__disjvr_23^post65 == 0 /\ len_132^0-len_132^post65 == 0 /\ __disjvr_0^0-__disjvr_0^post65 == 0 /\ -r_124^post65+r_124^0 == 0 /\ head_27^post65-head_14^post65 <= 0 /\ head_27^post65-head_SLAM_f_26^post65 <= 0 /\ head_27^post65-head_SLAM_f_26^post65 == 0 /\ __disjvr_3^0-__disjvr_3^post65 == 0 /\ -len_132^0 <= 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post65 == 0 /\ r_39^0-r_39^post65 == 0 /\ -__disjvr_13^post65+__disjvr_13^0 == 0 /\ head_14^post65-head_SLAM_f_26^post65 <= 0 /\ temp0_15^0-temp0_15^post65 == 0 /\ -__disjvr_19^post65+__disjvr_19^0 == 0 /\ -f_170^post65+f_170^0 == 0 /\ __disjvr_8^0-__disjvr_8^post65 == 0 /\ __disjvr_16^0-__disjvr_16^post65 == 0 /\ -__disjvr_18^post65+__disjvr_18^0 == 0 /\ -r_163^post65+r_163^0 == 0 /\ -__disjvr_12^post65+__disjvr_12^0 == 0 /\ head_14^post65-result_11^11 == 0 /\ -__disjvr_4^post65+__disjvr_4^0 == 0 /\ head_129^0-head_129^post65 == 0 /\ len_132^0 <= 0 /\ __disjvr_29^0-__disjvr_29^post65 == 0 /\ __disjvr_11^0-__disjvr_11^post65 == 0 /\ -ct_17^post65+ct_17^0 == 0 /\ a_215^0-a_215^post65 == 0 /\ a_116^0-a_116^post65 == 0 /\ nondet_12^0-nondet_12^post65 == 0 /\ -len_183^post65+len_183^0 == 0 /\ -__disjvr_25^post65+__disjvr_25^0 == 0 /\ -i_94^post65+i_94^0 == 0 /\ -i_108^post65+i_108^0 == 0 /\ x_20^0-x_20^post65 == 0 /\ -__disjvr_2^post65+__disjvr_2^0 == 0 /\ -__disjvr_7^post65+__disjvr_7^0 == 0 /\ -__disjvr_27^post65+__disjvr_27^0 == 0 /\ -a_237^post65+a_237^0 == 0 /\ i_30^post65-a_147^0 <= 0 /\ a_260^0-a_260^post65 == 0 /\ -i_30^0+length_29^0 <= 0 /\ rcd_88^0-rcd_88^post65 == 0 /\ -i_30^0 <= 0 /\ __disjvr_15^0-__disjvr_15^post65 == 0 /\ -__disjvr_9^post65+__disjvr_9^0 == 0 /\ a_184^0-a_184^post65 == 0 /\ -__disjvr_20^post65+__disjvr_20^0 == 0 /\ __disjvr_5^0-__disjvr_5^post65 == 0 /\ -rcd_58^post65+rcd_58^0 == 0 /\ __disjvr_14^0-__disjvr_14^post65 == 0 /\ -i_30^post65+a_147^0 <= 0 /\ -__disjvr_17^post65+__disjvr_17^0 == 0 /\ -__disjvr_26^post65+__disjvr_26^0 == 0 /\ -t_23^post65+t_23^0 == 0), cost: 1
New rule:
l38 -> l63 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l63 -> l64 : __disjvr_0^0'=__disjvr_0^post66, a_215^0'=a_215^post66, x_SLAM_f_18^0'=x_SLAM_f_18^post66, __disjvr_21^0'=__disjvr_21^post66, __disjvr_3^0'=__disjvr_3^post66, result_11^0'=result_11^post66, __disjvr_14^0'=__disjvr_14^post66, head_129^0'=head_129^post66, __disjvr_24^0'=__disjvr_24^post66, len_183^0'=len_183^post66, __disjvr_8^0'=__disjvr_8^post66, a_116^0'=a_116^post66, tmp_34^0'=tmp_34^post66, __disjvr_19^0'=__disjvr_19^post66, head_SLAM_f_26^0'=head_SLAM_f_26^post66, __disjvr_29^0'=__disjvr_29^post66, r_39^0'=r_39^post66, __disjvr_11^0'=__disjvr_11^post66, a_260^0'=a_260^post66, i_30^0'=i_30^post66, __disjvr_5^0'=__disjvr_5^post66, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post66, __disjvr_16^0'=__disjvr_16^post66, head_175^0'=head_175^post66, __disjvr_26^0'=__disjvr_26^post66, nondet_12^0'=nondet_12^post66, a_184^0'=a_184^post66, x_20^0'=x_20^post66, __disjvr_20^0'=__disjvr_20^post66, i_167^0'=i_167^post66, __disjvr_30^0'=__disjvr_30^post66, rcd_88^0'=rcd_88^post66, __disjvr_13^0'=__disjvr_13^post66, f_170^0'=f_170^post66, __disjvr_23^0'=__disjvr_23^post66, len_132^0'=len_132^post66, __disjvr_7^0'=__disjvr_7^post66, temp0_15^0'=temp0_15^post66, temp_35^0'=temp_35^post66, __disjvr_18^0'=__disjvr_18^post66, head_32^0'=head_32^post66, __disjvr_28^0'=__disjvr_28^post66, r_163^0'=r_163^post66, __disjvr_10^0'=__disjvr_10^post66, a_237^0'=a_237^post66, y_19^0'=y_19^post66, __disjvr_22^0'=__disjvr_22^post66, __disjvr_4^0'=__disjvr_4^post66, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66, __disjvr_15^0'=__disjvr_15^post66, head_14^0'=head_14^post66, __disjvr_25^0'=__disjvr_25^post66, length_29^0'=length_29^post66, __disjvr_9^0'=__disjvr_9^post66, a_147^0'=a_147^post66, x_16^0'=x_16^post66, __disjvr_1^0'=__disjvr_1^post66, i_108^0'=i_108^post66, __disjvr_2^0'=__disjvr_2^post66, rcd_58^0'=rcd_58^post66, __disjvr_12^0'=__disjvr_12^post66, ct_17^0'=ct_17^post66, i_94^0'=i_94^post66, __disjvr_6^0'=__disjvr_6^post66, t_23^0'=t_23^post66, temp0_31^0'=temp0_31^post66, __disjvr_17^0'=__disjvr_17^post66, head_27^0'=head_27^post66, __disjvr_27^0'=__disjvr_27^post66, r_124^0'=r_124^post66, (-__disjvr_30^0+__disjvr_30^post66 == 0 /\ -temp_35^post66+temp_35^0 == 0 /\ rcd_88^0-rcd_88^post66 == 0 /\ len_183^0-len_183^post66 == 0 /\ a_260^0-a_260^post66 == 0 /\ __disjvr_7^0-__disjvr_7^post66 == 0 /\ a_237^0-a_237^post66 == 0 /\ __disjvr_3^0-__disjvr_3^post66 == 0 /\ i_167^0-i_167^post66 == 0 /\ result_11^0-result_11^post66 == 0 /\ -x_16^post66+x_16^0 == 0 /\ -x_20^post66+x_20^0 == 0 /\ __disjvr_14^0-__disjvr_14^post66 == 0 /\ __disjvr_28^0-__disjvr_28^post66 == 0 /\ __disjvr_26^0-__disjvr_26^post66 == 0 /\ __disjvr_1^0-__disjvr_1^post66 == 0 /\ -__disjvr_10^post66+__disjvr_10^0 == 0 /\ -temp0_31^post66+temp0_31^0 == 0 /\ __disjvr_9^0-__disjvr_9^post66 == 0 /\ -__disjvr_22^post66+__disjvr_22^0 == 0 /\ __disjvr_30^0-__disjvr_30^post66 == 0 /\ -temp0_15^post66+temp0_15^0 == 0 /\ head_175^0-head_175^post66 == 0 /\ __disjvr_13^0-__disjvr_13^post66 == 0 /\ rcd_58^0-rcd_58^post66 == 0 /\ ct_17^0-ct_17^post66 == 0 /\ -__disjvr_23^post66+__disjvr_23^0 == 0 /\ __disjvr_21^0-__disjvr_21^post66 == 0 /\ -i_108^post66+i_108^0 == 0 /\ __disjvr_0^0-__disjvr_0^post66 == 0 /\ -__disjvr_20^post66+__disjvr_20^0 == 0 /\ -__disjvr_12^post66+__disjvr_12^0 == 0 /\ -t_23^post66+t_23^0 == 0 /\ -r_124^post66+r_124^0 == 0 /\ -__disjvr_25^post66+__disjvr_25^0 == 0 /\ -__disjvr_18^post66+__disjvr_18^0 == 0 /\ __disjvr_24^0-__disjvr_24^post66 == 0 /\ __disjvr_11^0-__disjvr_11^post66 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post66 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post66+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ a_184^0-a_184^post66 == 0 /\ r_39^0-r_39^post66 == 0 /\ -i_94^post66+i_94^0 == 0 /\ -a_147^post66+a_147^0 == 0 /\ -__disjvr_2^post66+__disjvr_2^0 == 0 /\ __disjvr_6^0-__disjvr_6^post66 == 0 /\ __disjvr_16^0-__disjvr_16^post66 == 0 /\ length_29^0-length_29^post66 == 0 /\ __disjvr_15^0-__disjvr_15^post66 == 0 /\ -head_14^post66+head_14^0 == 0 /\ a_215^0-a_215^post66 == 0 /\ -nondet_12^post66+nondet_12^0 == 0 /\ -__disjvr_27^post66+__disjvr_27^0 == 0 /\ -y_19^post66+y_19^0 == 0 /\ -a_116^post66+a_116^0 == 0 /\ head_129^0-head_129^post66 == 0 /\ __disjvr_29^0-__disjvr_29^post66 == 0 /\ i_30^0-i_30^post66 == 0 /\ -head_32^post66+head_32^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post66 == 0 /\ __disjvr_19^0-__disjvr_19^post66 == 0 /\ -__disjvr_4^post66+__disjvr_4^0 == 0 /\ tmp_34^0-tmp_34^post66 == 0 /\ -__disjvr_5^post66+__disjvr_5^0 == 0 /\ __disjvr_8^0-__disjvr_8^post66 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post66 == 0 /\ -r_163^post66+r_163^0 == 0 /\ -head_27^post66+head_27^0 == 0 /\ f_170^0-f_170^post66 == 0 /\ len_132^0-len_132^post66 == 0 /\ -__disjvr_17^post66+__disjvr_17^0 == 0), cost: 1
New rule:
l63 -> l64 : 0 == 0, cost: 1

Applied preprocessing
Original rule:
l64 -> l41 : __disjvr_0^0'=__disjvr_0^post67, a_215^0'=a_215^post67, x_SLAM_f_18^0'=x_SLAM_f_18^post67, __disjvr_21^0'=__disjvr_21^post67, __disjvr_3^0'=__disjvr_3^post67, result_11^0'=result_11^post67, __disjvr_14^0'=__disjvr_14^post67, head_129^0'=head_129^post67, __disjvr_24^0'=__disjvr_24^post67, len_183^0'=len_183^post67, __disjvr_8^0'=__disjvr_8^post67, a_116^0'=a_116^post67, tmp_34^0'=tmp_34^post67, __disjvr_19^0'=__disjvr_19^post67, head_SLAM_f_26^0'=head_SLAM_f_26^post67, __disjvr_29^0'=__disjvr_29^post67, r_39^0'=r_39^post67, __disjvr_11^0'=__disjvr_11^post67, a_260^0'=a_260^post67, i_30^0'=i_30^post67, __disjvr_5^0'=__disjvr_5^post67, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post67, __disjvr_16^0'=__disjvr_16^post67, head_175^0'=head_175^post67, __disjvr_26^0'=__disjvr_26^post67, nondet_12^0'=nondet_12^post67, a_184^0'=a_184^post67, x_20^0'=x_20^post67, __disjvr_20^0'=__disjvr_20^post67, i_167^0'=i_167^post67, __disjvr_30^0'=__disjvr_30^post67, rcd_88^0'=rcd_88^post67, __disjvr_13^0'=__disjvr_13^post67, f_170^0'=f_170^post67, __disjvr_23^0'=__disjvr_23^post67, len_132^0'=len_132^post67, __disjvr_7^0'=__disjvr_7^post67, temp0_15^0'=temp0_15^post67, temp_35^0'=temp_35^post67, __disjvr_18^0'=__disjvr_18^post67, head_32^0'=head_32^post67, __disjvr_28^0'=__disjvr_28^post67, r_163^0'=r_163^post67, __disjvr_10^0'=__disjvr_10^post67, a_237^0'=a_237^post67, y_19^0'=y_19^post67, __disjvr_22^0'=__disjvr_22^post67, __disjvr_4^0'=__disjvr_4^post67, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67, __disjvr_15^0'=__disjvr_15^post67, head_14^0'=head_14^post67, __disjvr_25^0'=__disjvr_25^post67, length_29^0'=length_29^post67, __disjvr_9^0'=__disjvr_9^post67, a_147^0'=a_147^post67, x_16^0'=x_16^post67, __disjvr_1^0'=__disjvr_1^post67, i_108^0'=i_108^post67, __disjvr_2^0'=__disjvr_2^post67, rcd_58^0'=rcd_58^post67, __disjvr_12^0'=__disjvr_12^post67, ct_17^0'=ct_17^post67, i_94^0'=i_94^post67, __disjvr_6^0'=__disjvr_6^post67, t_23^0'=t_23^post67, temp0_31^0'=temp0_31^post67, __disjvr_17^0'=__disjvr_17^post67, head_27^0'=head_27^post67, __disjvr_27^0'=__disjvr_27^post67, r_124^0'=r_124^post67, (-a_147^post67+a_147^0 == 0 /\ head_129^0-head_129^post67 == 0 /\ -t_23^post67+t_23^0 == 0 /\ -a_184^post67+a_184^0 == 0 /\ nondet_12^0-nondet_12^post67 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -__disjvr_2^post67+__disjvr_2^0 == 0 /\ -head_27^post67+head_27^0 == 0 /\ -__disjvr_30^post67+__disjvr_30^0 == 0 /\ -ct_17^post67+ct_17^0 == 0 /\ __disjvr_0^0-__disjvr_0^post67 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post67 == 0 /\ -__disjvr_9^post67+__disjvr_9^0 == 0 /\ __disjvr_21^0-__disjvr_21^post67 == 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -y_19^post67+y_19^0 == 0 /\ -__disjvr_27^post67+__disjvr_27^0 == 0 /\ -__disjvr_28^post67+__disjvr_28^0 == 0 /\ -length_29^post67+length_29^0 == 0 /\ x_20^0-x_20^post67 == 0 /\ f_170^0-f_170^post67 == 0 /\ -__disjvr_6^post67+__disjvr_6^0 == 0 /\ temp_35^0-temp_35^post67 == 0 /\ -rcd_88^post67+rcd_88^0 == 0 /\ i_167^0-i_167^post67 == 0 /\ head_32^0-head_32^post67 == 0 /\ -__disjvr_1^post67+__disjvr_1^0 == 0 /\ -__disjvr_13^post67+__disjvr_13^0 == 0 /\ -rcd_58^post67+rcd_58^0 == 0 /\ -__disjvr_4^post67+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post67 == 0 /\ r_39^0-r_39^post67 == 0 /\ __disjvr_5^0-__disjvr_5^post67 == 0 /\ a_215^0-a_215^post67 == 0 /\ result_11^0-result_11^post67 == 0 /\ -len_132^post67+len_132^0 == 0 /\ __disjvr_26^0-__disjvr_26^post67 == 0 /\ head_14^0-head_14^post67 == 0 /\ -__disjvr_15^post67+__disjvr_15^0 == 0 /\ -head_175^post67+head_175^0 == 0 /\ temp0_15^0-temp0_15^post67 == 0 /\ -__disjvr_17^post67+__disjvr_17^0 == 0 /\ __disjvr_19^0-__disjvr_19^post67 == 0 /\ __disjvr_20^0-__disjvr_20^post67 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post67+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -x_16^post67+x_16^0 == 0 /\ a_116^0-a_116^post67 == 0 /\ 2-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post67 == 0 /\ a_260^0-a_260^post67 == 0 /\ len_183^0-len_183^post67 == 0 /\ -temp0_31^post67+temp0_31^0 == 0 /\ -__disjvr_16^post67+__disjvr_16^0 == 0 /\ -a_237^post67+a_237^0 == 0 /\ __disjvr_11^0-__disjvr_11^post67 == 0 /\ -__disjvr_10^post67+__disjvr_10^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post67 == 0 /\ -i_108^post67+i_108^0 == 0 /\ __disjvr_7^0-__disjvr_7^post67 == 0 /\ 1-result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0 /\ -__disjvr_12^post67+__disjvr_12^0 == 0 /\ tmp_34^0-tmp_34^post67 == 0 /\ __disjvr_23^0-__disjvr_23^post67 == 0 /\ -head_SLAM_f_26^post67+head_SLAM_f_26^0 == 0 /\ -i_30^post67+i_30^0 == 0 /\ -__disjvr_24^post67+__disjvr_24^0 == 0 /\ __disjvr_3^0-__disjvr_3^post67 == 0 /\ -i_94^post67+i_94^0 == 0 /\ -r_124^post67+r_124^0 == 0 /\ -__disjvr_25^post67+__disjvr_25^0 == 0 /\ __disjvr_22^0-__disjvr_22^post67 == 0 /\ -__disjvr_18^post67+__disjvr_18^0 == 0 /\ r_163^0-r_163^post67 == 0 /\ __disjvr_29^0-__disjvr_29^post67 == 0), cost: 1
New rule:
l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l38 -> l65 : __disjvr_0^0'=__disjvr_0^post68, a_215^0'=a_215^post68, x_SLAM_f_18^0'=x_SLAM_f_18^post68, __disjvr_21^0'=__disjvr_21^post68, __disjvr_3^0'=__disjvr_3^post68, result_11^0'=result_11^post68, __disjvr_14^0'=__disjvr_14^post68, head_129^0'=head_129^post68, __disjvr_24^0'=__disjvr_24^post68, len_183^0'=len_183^post68, __disjvr_8^0'=__disjvr_8^post68, a_116^0'=a_116^post68, tmp_34^0'=tmp_34^post68, __disjvr_19^0'=__disjvr_19^post68, head_SLAM_f_26^0'=head_SLAM_f_26^post68, __disjvr_29^0'=__disjvr_29^post68, r_39^0'=r_39^post68, __disjvr_11^0'=__disjvr_11^post68, a_260^0'=a_260^post68, i_30^0'=i_30^post68, __disjvr_5^0'=__disjvr_5^post68, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post68, __disjvr_16^0'=__disjvr_16^post68, head_175^0'=head_175^post68, __disjvr_26^0'=__disjvr_26^post68, nondet_12^0'=nondet_12^post68, a_184^0'=a_184^post68, x_20^0'=x_20^post68, __disjvr_20^0'=__disjvr_20^post68, i_167^0'=i_167^post68, __disjvr_30^0'=__disjvr_30^post68, rcd_88^0'=rcd_88^post68, __disjvr_13^0'=__disjvr_13^post68, f_170^0'=f_170^post68, __disjvr_23^0'=__disjvr_23^post68, len_132^0'=len_132^post68, __disjvr_7^0'=__disjvr_7^post68, temp0_15^0'=temp0_15^post68, temp_35^0'=temp_35^post68, __disjvr_18^0'=__disjvr_18^post68, head_32^0'=head_32^post68, __disjvr_28^0'=__disjvr_28^post68, r_163^0'=r_163^post68, __disjvr_10^0'=__disjvr_10^post68, a_237^0'=a_237^post68, y_19^0'=y_19^post68, __disjvr_22^0'=__disjvr_22^post68, __disjvr_4^0'=__disjvr_4^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68, __disjvr_15^0'=__disjvr_15^post68, head_14^0'=head_14^post68, __disjvr_25^0'=__disjvr_25^post68, length_29^0'=length_29^post68, __disjvr_9^0'=__disjvr_9^post68, a_147^0'=a_147^post68, x_16^0'=x_16^post68, __disjvr_1^0'=__disjvr_1^post68, i_108^0'=i_108^post68, __disjvr_2^0'=__disjvr_2^post68, rcd_58^0'=rcd_58^post68, __disjvr_12^0'=__disjvr_12^post68, ct_17^0'=ct_17^post68, i_94^0'=i_94^post68, __disjvr_6^0'=__disjvr_6^post68, t_23^0'=t_23^post68, temp0_31^0'=temp0_31^post68, __disjvr_17^0'=__disjvr_17^post68, head_27^0'=head_27^post68, __disjvr_27^0'=__disjvr_27^post68, r_124^0'=r_124^post68, (0 == 0 /\ a_184^0-a_184^post68 == 0 /\ __disjvr_23^0-__disjvr_23^post68 == 0 /\ -x_20^post68+x_20^0 == 0 /\ -x_16^post68+x_16^0 == 0 /\ i_108^0-i_108^post68 == 0 /\ __disjvr_16^0-__disjvr_16^post68 == 0 /\ a_215^0-a_215^post68 == 0 /\ -__disjvr_22^post68+__disjvr_22^0 == 0 /\ 1+i_94^post68-i_30^post68 <= 0 /\ __disjvr_14^0-__disjvr_14^post68 == 0 /\ -a_237^post68+a_237^0 == 0 /\ -tmp_34^post68+head_32^post68 == 0 /\ len_132^0-len_132^post68 == 0 /\ head_175^0-head_175^post68 == 0 /\ nondet_12^0-nondet_12^post68 == 0 /\ -temp0_15^post68+temp0_15^0 == 0 /\ __disjvr_20^0-__disjvr_20^post68 == 0 /\ -__disjvr_9^post68+__disjvr_9^0 == 0 /\ -__disjvr_12^post68+__disjvr_12^0 == 0 /\ tmp_34^post68-temp_35^0 == 0 /\ __disjvr_18^0-__disjvr_18^post68 == 0 /\ __disjvr_10^0-__disjvr_10^post68 == 0 /\ -__disjvr_25^post68+__disjvr_25^0 == 0 /\ a_260^0-a_260^post68 == 0 /\ __disjvr_2^0-__disjvr_2^post68 == 0 /\ __disjvr_24^0-__disjvr_24^post68 == 0 /\ -__disjvr_26^post68+__disjvr_26^0 == 0 /\ -r_124^post68+r_124^0 == 0 /\ -t_23^post68+t_23^0 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post68 == 0 /\ -__disjvr_7^post68+__disjvr_7^0 == 0 /\ -ct_17^post68+ct_17^0 == 0 /\ __disjvr_3^0-__disjvr_3^post68 == 0 /\ -__disjvr_15^post68+__disjvr_15^0 == 0 /\ -f_170^post68+f_170^0 == 0 /\ -a_147^post68+a_147^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post68+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ -a_116^post68+a_116^0 == 0 /\ -head_27^post68+head_27^0 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ -head_14^post68+head_14^0 == 0 /\ -length_29^post68+length_29^0 == 0 /\ -__disjvr_28^post68+__disjvr_28^0 == 0 /\ -1-i_30^0+i_30^post68 == 0 /\ r_39^0-r_39^post68 == 0 /\ -__disjvr_8^post68+__disjvr_8^0 == 0 /\ result_11^0-result_11^post68 == 0 /\ -1-i_94^post68+i_30^post68 <= 0 /\ -__disjvr_6^post68+__disjvr_6^0 == 0 /\ -__disjvr_5^post68+__disjvr_5^0 == 0 /\ 1-length_29^0+i_94^post68 <= 0 /\ -r_163^post68+r_163^0 == 0 /\ __disjvr_13^0-__disjvr_13^post68 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post68 == 0 /\ -temp0_31^post68+temp0_31^0 == 0 /\ y_19^0-y_19^post68 == 0 /\ -i_30^0 <= 0 /\ __disjvr_0^0-__disjvr_0^post68 == 0 /\ head_129^0-head_129^post68 == 0 /\ -__disjvr_1^post68+__disjvr_1^0 == 0 /\ -rcd_58^post68+rcd_58^0 == 0 /\ -__disjvr_19^post68+__disjvr_19^0 == 0 /\ __disjvr_30^0-__disjvr_30^post68 == 0 /\ -__disjvr_29^post68+__disjvr_29^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post68 == 0 /\ -__disjvr_4^post68+__disjvr_4^0 == 0 /\ __disjvr_21^0-__disjvr_21^post68 == 0 /\ __disjvr_27^0-__disjvr_27^post68 == 0 /\ -__disjvr_17^post68+__disjvr_17^0 == 0 /\ len_183^0-len_183^post68 == 0 /\ -i_167^post68+i_167^0 == 0 /\ __disjvr_11^0-__disjvr_11^post68 == 0), cost: 1
New rule:
l38 -> l65 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l65 -> l38 : __disjvr_0^0'=__disjvr_0^post69, a_215^0'=a_215^post69, x_SLAM_f_18^0'=x_SLAM_f_18^post69, __disjvr_21^0'=__disjvr_21^post69, __disjvr_3^0'=__disjvr_3^post69, result_11^0'=result_11^post69, __disjvr_14^0'=__disjvr_14^post69, head_129^0'=head_129^post69, __disjvr_24^0'=__disjvr_24^post69, len_183^0'=len_183^post69, __disjvr_8^0'=__disjvr_8^post69, a_116^0'=a_116^post69, tmp_34^0'=tmp_34^post69, __disjvr_19^0'=__disjvr_19^post69, head_SLAM_f_26^0'=head_SLAM_f_26^post69, __disjvr_29^0'=__disjvr_29^post69, r_39^0'=r_39^post69, __disjvr_11^0'=__disjvr_11^post69, a_260^0'=a_260^post69, i_30^0'=i_30^post69, __disjvr_5^0'=__disjvr_5^post69, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post69, __disjvr_16^0'=__disjvr_16^post69, head_175^0'=head_175^post69, __disjvr_26^0'=__disjvr_26^post69, nondet_12^0'=nondet_12^post69, a_184^0'=a_184^post69, x_20^0'=x_20^post69, __disjvr_20^0'=__disjvr_20^post69, i_167^0'=i_167^post69, __disjvr_30^0'=__disjvr_30^post69, rcd_88^0'=rcd_88^post69, __disjvr_13^0'=__disjvr_13^post69, f_170^0'=f_170^post69, __disjvr_23^0'=__disjvr_23^post69, len_132^0'=len_132^post69, __disjvr_7^0'=__disjvr_7^post69, temp0_15^0'=temp0_15^post69, temp_35^0'=temp_35^post69, __disjvr_18^0'=__disjvr_18^post69, head_32^0'=head_32^post69, __disjvr_28^0'=__disjvr_28^post69, r_163^0'=r_163^post69, __disjvr_10^0'=__disjvr_10^post69, a_237^0'=a_237^post69, y_19^0'=y_19^post69, __disjvr_22^0'=__disjvr_22^post69, __disjvr_4^0'=__disjvr_4^post69, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69, __disjvr_15^0'=__disjvr_15^post69, head_14^0'=head_14^post69, __disjvr_25^0'=__disjvr_25^post69, length_29^0'=length_29^post69, __disjvr_9^0'=__disjvr_9^post69, a_147^0'=a_147^post69, x_16^0'=x_16^post69, __disjvr_1^0'=__disjvr_1^post69, i_108^0'=i_108^post69, __disjvr_2^0'=__disjvr_2^post69, rcd_58^0'=rcd_58^post69, __disjvr_12^0'=__disjvr_12^post69, ct_17^0'=ct_17^post69, i_94^0'=i_94^post69, __disjvr_6^0'=__disjvr_6^post69, t_23^0'=t_23^post69, temp0_31^0'=temp0_31^post69, __disjvr_17^0'=__disjvr_17^post69, head_27^0'=head_27^post69, __disjvr_27^0'=__disjvr_27^post69, r_124^0'=r_124^post69, (__disjvr_5^0-__disjvr_5^post69 == 0 /\ -__disjvr_15^post69+__disjvr_15^0 == 0 /\ __disjvr_9^0-__disjvr_9^post69 == 0 /\ rcd_58^0-rcd_58^post69 == 0 /\ -ct_17^post69+ct_17^0 == 0 /\ -i_108^post69+i_108^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post69+result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0 == 0 /\ __disjvr_19^0-__disjvr_19^post69 == 0 /\ -__disjvr_17^post69+__disjvr_17^0 == 0 /\ -a_147^post69+a_147^0 == 0 /\ __disjvr_8^0-__disjvr_8^post69 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post69 == 0 /\ -a_184^post69+a_184^0 == 0 /\ x_16^0-x_16^post69 == 0 /\ __disjvr_30^0-__disjvr_30^post69 == 0 /\ head_129^0-head_129^post69 == 0 /\ -head_27^post69+head_27^0 == 0 /\ a_260^0-a_260^post69 == 0 /\ -__disjvr_23^post69+__disjvr_23^0 == 0 /\ -nondet_12^post69+nondet_12^0 == 0 /\ -__disjvr_2^post69+__disjvr_2^0 == 0 /\ __disjvr_11^0-__disjvr_11^post69 == 0 /\ -__disjvr_6^post69+__disjvr_6^0 == 0 /\ -y_19^post69+y_19^0 == 0 /\ -temp0_15^post69+temp0_15^0 == 0 /\ a_116^0-a_116^post69 == 0 /\ -temp0_31^post69+temp0_31^0 == 0 /\ a_215^0-a_215^post69 == 0 /\ __disjvr_16^0-__disjvr_16^post69 == 0 /\ -rcd_88^post69+rcd_88^0 == 0 /\ __disjvr_28^0-__disjvr_28^post69 == 0 /\ -f_170^post69+f_170^0 == 0 /\ __disjvr_7^0-__disjvr_7^post69 == 0 /\ __disjvr_29^0-__disjvr_29^post69 == 0 /\ -head_32^post69+head_32^0 == 0 /\ -__disjvr_4^post69+__disjvr_4^0 == 0 /\ __disjvr_14^0-__disjvr_14^post69 == 0 /\ -r_163^post69+r_163^0 == 0 /\ head_175^0-head_175^post69 == 0 /\ __disjvr_13^0-__disjvr_13^post69 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post69+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 == 0 /\ -__disjvr_25^post69+__disjvr_25^0 == 0 /\ __disjvr_18^0-__disjvr_18^post69 == 0 /\ -temp_35^post69+temp_35^0 == 0 /\ -__disjvr_22^post69+__disjvr_22^0 == 0 /\ __disjvr_21^0-__disjvr_21^post69 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post69 == 0 /\ -__disjvr_10^post69+__disjvr_10^0 == 0 /\ len_183^0-len_183^post69 == 0 /\ -__disjvr_1^post69+__disjvr_1^0 == 0 /\ x_20^0-x_20^post69 == 0 /\ len_132^0-len_132^post69 == 0 /\ -__disjvr_12^post69+__disjvr_12^0 == 0 /\ a_237^0-a_237^post69 == 0 /\ -tmp_34^post69+tmp_34^0 == 0 /\ -head_14^post69+head_14^0 == 0 /\ i_167^0-i_167^post69 == 0 /\ -__disjvr_27^post69+__disjvr_27^0 == 0 /\ __disjvr_0^0-__disjvr_0^post69 == 0 /\ -__disjvr_20^post69+__disjvr_20^0 == 0 /\ r_39^0-r_39^post69 == 0 /\ -__disjvr_24^post69+__disjvr_24^0 == 0 /\ -r_124^post69+r_124^0 == 0 /\ length_29^0-length_29^post69 == 0 /\ -i_94^post69+i_94^0 == 0 /\ result_11^0-result_11^post69 == 0 /\ __disjvr_3^0-__disjvr_3^post69 == 0 /\ i_30^0-i_30^post69 == 0 /\ __disjvr_26^0-__disjvr_26^post69 == 0 /\ -t_23^post69+t_23^0 == 0), cost: 1
New rule:
l65 -> l38 : TRUE, cost: 1

Applied preprocessing
Original rule:
l40 -> l25 : __disjvr_0^0'=__disjvr_0^post71, a_215^0'=a_215^post71, x_SLAM_f_18^0'=x_SLAM_f_18^post71, __disjvr_21^0'=__disjvr_21^post71, __disjvr_3^0'=__disjvr_3^post71, result_11^0'=result_11^post71, __disjvr_14^0'=__disjvr_14^post71, head_129^0'=head_129^post71, __disjvr_24^0'=__disjvr_24^post71, len_183^0'=len_183^post71, __disjvr_8^0'=__disjvr_8^post71, a_116^0'=a_116^post71, tmp_34^0'=tmp_34^post71, __disjvr_19^0'=__disjvr_19^post71, head_SLAM_f_26^0'=head_SLAM_f_26^post71, __disjvr_29^0'=__disjvr_29^post71, r_39^0'=r_39^post71, __disjvr_11^0'=__disjvr_11^post71, a_260^0'=a_260^post71, i_30^0'=i_30^post71, __disjvr_5^0'=__disjvr_5^post71, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post71, __disjvr_16^0'=__disjvr_16^post71, head_175^0'=head_175^post71, __disjvr_26^0'=__disjvr_26^post71, nondet_12^0'=nondet_12^post71, a_184^0'=a_184^post71, x_20^0'=x_20^post71, __disjvr_20^0'=__disjvr_20^post71, i_167^0'=i_167^post71, __disjvr_30^0'=__disjvr_30^post71, rcd_88^0'=rcd_88^post71, __disjvr_13^0'=__disjvr_13^post71, f_170^0'=f_170^post71, __disjvr_23^0'=__disjvr_23^post71, len_132^0'=len_132^post71, __disjvr_7^0'=__disjvr_7^post71, temp0_15^0'=temp0_15^post71, temp_35^0'=temp_35^post71, __disjvr_18^0'=__disjvr_18^post71, head_32^0'=head_32^post71, __disjvr_28^0'=__disjvr_28^post71, r_163^0'=r_163^post71, __disjvr_10^0'=__disjvr_10^post71, a_237^0'=a_237^post71, y_19^0'=y_19^post71, __disjvr_22^0'=__disjvr_22^post71, __disjvr_4^0'=__disjvr_4^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71, __disjvr_15^0'=__disjvr_15^post71, head_14^0'=head_14^post71, __disjvr_25^0'=__disjvr_25^post71, length_29^0'=length_29^post71, __disjvr_9^0'=__disjvr_9^post71, a_147^0'=a_147^post71, x_16^0'=x_16^post71, __disjvr_1^0'=__disjvr_1^post71, i_108^0'=i_108^post71, __disjvr_2^0'=__disjvr_2^post71, rcd_58^0'=rcd_58^post71, __disjvr_12^0'=__disjvr_12^post71, ct_17^0'=ct_17^post71, i_94^0'=i_94^post71, __disjvr_6^0'=__disjvr_6^post71, t_23^0'=t_23^post71, temp0_31^0'=temp0_31^post71, __disjvr_17^0'=__disjvr_17^post71, head_27^0'=head_27^post71, __disjvr_27^0'=__disjvr_27^post71, r_124^0'=r_124^post71, (0 == 0 /\ __disjvr_16^0-__disjvr_16^post71 == 0 /\ a_215^0-a_215^post71 == 0 /\ __disjvr_29^0-__disjvr_29^post71 == 0 /\ __disjvr_24^0-__disjvr_24^post71 == 0 /\ -__disjvr_1^post71+__disjvr_1^0 == 0 /\ -rcd_58^post71+rcd_58^0 == 0 /\ a_116^0-a_116^post71 == 0 /\ __disjvr_11^0-__disjvr_11^post71 == 0 /\ -__disjvr_23^post71+__disjvr_23^0 == 0 /\ -__disjvr_25^post71+__disjvr_25^0 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71-head_32^post71 <= 0 /\ -__disjvr_5^post71+__disjvr_5^0 == 0 /\ -len_132^post71+len_132^0 == 0 /\ -__disjvr_20^post71+__disjvr_20^0 == 0 /\ -r_124^post71+r_124^0 == 0 /\ -i_94^post71+i_94^0 == 0 /\ -t_23^post71+t_23^0 == 0 /\ 1-length_29^0 <= 0 /\ __disjvr_8^0-__disjvr_8^post71 == 0 /\ i_167^0-i_167^post71 == 0 /\ __disjvr_30^0-__disjvr_30^post71 == 0 /\ -__disjvr_15^post71+__disjvr_15^0 == 0 /\ -head_175^post71+head_175^0 == 0 /\ -__disjvr_10^post71+__disjvr_10^0 == 0 /\ a_260^0-a_260^post71 == 0 /\ -a_184^post71+a_184^0 == 0 /\ __disjvr_7^0-__disjvr_7^post71 == 0 /\ r_163^0-r_163^post71 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post71 == 0 /\ -head_27^post71+head_27^0 == 0 /\ nondet_12^0-nondet_12^post71 == 0 /\ -__disjvr_27^post71+__disjvr_27^0 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+head_32^post71 <= 0 /\ -temp_35^0+tmp_34^post71 == 0 /\ __disjvr_19^0-__disjvr_19^post71 == 0 /\ head_129^0-head_129^post71 == 0 /\ x_16^0-x_16^post71 == 0 /\ -y_19^post71+y_19^0 == 0 /\ -__disjvr_6^post71+__disjvr_6^0 == 0 /\ -1-i_30^0+i_30^post71 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71-tmp_34^post71 <= 0 /\ -temp0_15^post71+temp0_15^0 == 0 /\ __disjvr_28^0-__disjvr_28^post71 == 0 /\ result_11^0-result_11^post71 == 0 /\ -__disjvr_13^post71+__disjvr_13^0 == 0 /\ -result_dot_nondet_sdv_special_RETURN_VALUE_13^post71+length_29^0 <= 0 /\ -temp0_31^post71+temp0_31^0 == 0 /\ -__disjvr_12^post71+__disjvr_12^0 == 0 /\ __disjvr_21^0-__disjvr_21^post71 == 0 /\ f_170^0-f_170^post71 == 0 /\ -rcd_88^post71+rcd_88^0 == 0 /\ x_20^0-x_20^post71 == 0 /\ 1+i_30^0-length_29^0 <= 0 /\ __disjvr_3^0-__disjvr_3^post71 == 0 /\ -__disjvr_18^post71+__disjvr_18^0 == 0 /\ -i_108^post71+i_108^0 == 0 /\ 1-i_30^post71 <= 0 /\ -1+i_30^post71 <= 0 /\ __disjvr_0^0-__disjvr_0^post71 == 0 /\ -__disjvr_17^post71+__disjvr_17^0 == 0 /\ head_32^post71-tmp_34^post71 <= 0 /\ head_32^post71-tmp_34^post71 == 0 /\ -ct_17^post71+ct_17^0 == 0 /\ r_39^0-r_39^post71 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post71 == 0 /\ __disjvr_14^0-__disjvr_14^post71 == 0 /\ -result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post71+tmp_34^post71 <= 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^post71-length_29^0 <= 0 /\ length_29^0-length_29^post71 == 0 /\ -a_147^post71+a_147^0 == 0 /\ -__disjvr_2^post71+__disjvr_2^0 == 0 /\ head_14^0-head_14^post71 == 0 /\ len_183^0-len_183^post71 == 0 /\ __disjvr_26^0-__disjvr_26^post71 == 0 /\ -__disjvr_9^post71+__disjvr_9^0 == 0 /\ a_237^0-a_237^post71 == 0 /\ -__disjvr_22^post71+__disjvr_22^0 == 0 /\ __disjvr_4^0-__disjvr_4^post71 == 0 /\ -head_32^post71+tmp_34^post71 <= 0), cost: 1
New rule:
l40 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1

Applied preprocessing
Original rule:
l66 -> l39 : __disjvr_0^0'=__disjvr_0^post72, a_215^0'=a_215^post72, x_SLAM_f_18^0'=x_SLAM_f_18^post72, __disjvr_21^0'=__disjvr_21^post72, __disjvr_3^0'=__disjvr_3^post72, result_11^0'=result_11^post72, __disjvr_14^0'=__disjvr_14^post72, head_129^0'=head_129^post72, __disjvr_24^0'=__disjvr_24^post72, len_183^0'=len_183^post72, __disjvr_8^0'=__disjvr_8^post72, a_116^0'=a_116^post72, tmp_34^0'=tmp_34^post72, __disjvr_19^0'=__disjvr_19^post72, head_SLAM_f_26^0'=head_SLAM_f_26^post72, __disjvr_29^0'=__disjvr_29^post72, r_39^0'=r_39^post72, __disjvr_11^0'=__disjvr_11^post72, a_260^0'=a_260^post72, i_30^0'=i_30^post72, __disjvr_5^0'=__disjvr_5^post72, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post72, __disjvr_16^0'=__disjvr_16^post72, head_175^0'=head_175^post72, __disjvr_26^0'=__disjvr_26^post72, nondet_12^0'=nondet_12^post72, a_184^0'=a_184^post72, x_20^0'=x_20^post72, __disjvr_20^0'=__disjvr_20^post72, i_167^0'=i_167^post72, __disjvr_30^0'=__disjvr_30^post72, rcd_88^0'=rcd_88^post72, __disjvr_13^0'=__disjvr_13^post72, f_170^0'=f_170^post72, __disjvr_23^0'=__disjvr_23^post72, len_132^0'=len_132^post72, __disjvr_7^0'=__disjvr_7^post72, temp0_15^0'=temp0_15^post72, temp_35^0'=temp_35^post72, __disjvr_18^0'=__disjvr_18^post72, head_32^0'=head_32^post72, __disjvr_28^0'=__disjvr_28^post72, r_163^0'=r_163^post72, __disjvr_10^0'=__disjvr_10^post72, a_237^0'=a_237^post72, y_19^0'=y_19^post72, __disjvr_22^0'=__disjvr_22^post72, __disjvr_4^0'=__disjvr_4^post72, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72, __disjvr_15^0'=__disjvr_15^post72, head_14^0'=head_14^post72, __disjvr_25^0'=__disjvr_25^post72, length_29^0'=length_29^post72, __disjvr_9^0'=__disjvr_9^post72, a_147^0'=a_147^post72, x_16^0'=x_16^post72, __disjvr_1^0'=__disjvr_1^post72, i_108^0'=i_108^post72, __disjvr_2^0'=__disjvr_2^post72, rcd_58^0'=rcd_58^post72, __disjvr_12^0'=__disjvr_12^post72, ct_17^0'=ct_17^post72, i_94^0'=i_94^post72, __disjvr_6^0'=__disjvr_6^post72, t_23^0'=t_23^post72, temp0_31^0'=temp0_31^post72, __disjvr_17^0'=__disjvr_17^post72, head_27^0'=head_27^post72, __disjvr_27^0'=__disjvr_27^post72, r_124^0'=r_124^post72, (r_39^0-r_39^post72 == 0 /\ -__disjvr_13^post72+__disjvr_13^0 == 0 /\ -__disjvr_12^post72+__disjvr_12^0 == 0 /\ a_260^0-a_260^post72 == 0 /\ -temp0_31^post72+temp0_31^0 == 0 /\ -__disjvr_16^post72+__disjvr_16^0 == 0 /\ -__disjvr_4^post72+__disjvr_4^0 == 0 /\ -__disjvr_9^post72+__disjvr_9^0 == 0 /\ r_163^0-r_163^post72 == 0 /\ __disjvr_5^0-__disjvr_5^post72 == 0 /\ -i_108^post72+i_108^0 == 0 /\ -i_167^post72+i_167^0 == 0 /\ -__disjvr_26^post72+__disjvr_26^0 == 0 /\ __disjvr_19^0-__disjvr_19^post72 == 0 /\ head_32^0-head_32^post72 == 0 /\ __disjvr_20^0-__disjvr_20^post72 == 0 /\ -__disjvr_7^post72+__disjvr_7^0 == 0 /\ head_129^0-head_129^post72 == 0 /\ -__disjvr_18^post72+__disjvr_18^0 == 0 /\ -__disjvr_11^post72+__disjvr_11^0 == 0 /\ -ct_17^post72+ct_17^0 == 0 /\ a_147^0-a_147^post72 == 0 /\ __disjvr_29^0-__disjvr_29^post72 == 0 /\ __disjvr_21^0-__disjvr_21^post72 == 0 /\ -len_132^post72+len_132^0 == 0 /\ x_20^0-x_20^post72 == 0 /\ temp_35^0-temp_35^post72 == 0 /\ -i_30^post72+i_30^0 == 0 /\ -__disjvr_28^post72+__disjvr_28^0 == 0 /\ -__disjvr_22^post72+__disjvr_22^0 == 0 /\ tmp_34^0-tmp_34^post72 == 0 /\ -__disjvr_2^post72+__disjvr_2^0 == 0 /\ __disjvr_0^0-__disjvr_0^post72 == 0 /\ -a_237^post72+a_237^0 == 0 /\ __disjvr_23^0-__disjvr_23^post72 == 0 /\ -__disjvr_1^post72+__disjvr_1^0 == 0 /\ x_SLAM_f_18^0-x_SLAM_f_18^post72 == 0 /\ head_SLAM_f_26^0-head_SLAM_f_26^post72 == 0 /\ __disjvr_3^0-__disjvr_3^post72 == 0 /\ rcd_88^0-rcd_88^post72 == 0 /\ i_94^0-i_94^post72 == 0 /\ -head_14^post72+head_14^0 == 0 /\ len_183^0-len_183^post72 == 0 /\ -__disjvr_27^post72+__disjvr_27^0 == 0 /\ -rcd_58^post72+rcd_58^0 == 0 /\ temp0_15^0-temp0_15^post72 == 0 /\ -__disjvr_14^post72+__disjvr_14^0 == 0 /\ nondet_12^0-nondet_12^post72 == 0 /\ -r_124^post72+r_124^0 == 0 /\ a_184^0-a_184^post72 == 0 /\ -head_175^post72+head_175^0 == 0 /\ result_dot_nondet_sdv_special_RETURN_VALUE_13^0-result_dot_nondet_sdv_special_RETURN_VALUE_13^post72 == 0 /\ result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0-result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post72 == 0 /\ t_23^0-t_23^post72 == 0 /\ __disjvr_25^0-__disjvr_25^post72 == 0 /\ __disjvr_24^0-__disjvr_24^post72 == 0 /\ a_215^0-a_215^post72 == 0 /\ result_11^0-result_11^post72 == 0 /\ -__disjvr_15^post72+__disjvr_15^0 == 0 /\ -f_170^post72+f_170^0 == 0 /\ -__disjvr_17^post72+__disjvr_17^0 == 0 /\ -x_16^post72+x_16^0 == 0 /\ a_116^0-a_116^post72 == 0 /\ -length_29^post72+length_29^0 == 0 /\ -head_27^post72+head_27^0 == 0 /\ -__disjvr_30^post72+__disjvr_30^0 == 0 /\ -__disjvr_10^post72+__disjvr_10^0 == 0 /\ __disjvr_8^0-__disjvr_8^post72 == 0 /\ -__disjvr_6^post72+__disjvr_6^0 == 0 /\ -y_19^post72+y_19^0 == 0), cost: 1
New rule:
l66 -> l39 : TRUE, cost: 1

Simplified rules
Start location: l66
  73: l0 -> l3 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, a_237^0 >= 0, cost: 1
  74: l3 -> l4 : 0 == 0, cost: 1
  75: l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (x_SLAM_f_18^0-head_14^0 == 0 /\ -y_19^0+ct_17^0 == 0 /\ head_14^0-x_16^0 == 0 /\ ct_17^0 == 0), cost: 1
  76: l5 -> l6 : 0 == 0, cost: 1
  77: l6 -> l7 : 0 == 0, cost: 1
  78: l7 -> l8 : 0 == 0, cost: 1
  79: l8 -> l2 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  80: l2 -> l0 : TRUE, cost: 1
  81: l18 -> l19 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, len_132^0 >= 0, cost: 1
  82: l19 -> l20 : 0 == 0, cost: 1
  83: l20 -> l21 : a_215^0'=a_237^0, t_23^0'=x_20^0, (-x_20^0+head_14^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -y_19^0+ct_17^0 == 0 /\ head_14^0-x_16^0 == 0 /\ ct_17^0 == 0), cost: 1
  84: l21 -> l22 : 0 == 0, cost: 1
  85: l22 -> l23 : 0 == 0, cost: 1
  86: l23 -> l24 : 0 == 0, cost: 1
  87: l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  88: l25 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post39, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post39, (1+i_30^0-length_29^0 <= 0 /\ -1+i_30^0 == 0), cost: 1
 100: l38 -> l63 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 1
 103: l38 -> l65 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1
  89: l39 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 1
 105: l40 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1
  90: l41 -> l42 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1
  93: l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1
  91: l42 -> l43 : 0 == 0, cost: 1
  92: l43 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  94: l45 -> l46 : 0 == 0, cost: 1
  95: l46 -> l47 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_SLAM_f_26^0+head_14^0 == 0 /\ -f_170^0+head_27^0 == 0), cost: 1
  96: l47 -> l48 : 0 == 0, cost: 1
  97: l48 -> l49 : 0 == 0, cost: 1
  98: l49 -> l44 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
  99: l44 -> l41 : TRUE, cost: 1
 101: l63 -> l64 : 0 == 0, cost: 1
 102: l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 1
 104: l65 -> l38 : TRUE, cost: 1
 106: l66 -> l39 : TRUE, cost: 1


Eliminating location l39 by chaining:

Applied chaining
First rule:
l66 -> l39 : TRUE, cost: 1
Second rule:
l39 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 1
New rule:
l66 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 2

Applied deletion
Removed the following rules: 89 106

Eliminating location l40 by chaining:

Applied chaining
First rule:
l66 -> l40 : i_30^0'=0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, head_32^0'=0, length_29^0'=nondet_12^10, 0 == 0, cost: 2
Second rule:
l40 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, (i_30^0 == 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1
New rule:
l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3

Applied simplification
Original rule:
l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, (0 == 0 /\ 1-nondet_12^10 <= 0), cost: 3
New rule:
l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, -1+nondet_12^10 >= 0, cost: 3

Applied deletion
Removed the following rules: 105 107

Eliminating location l25 by chaining:

Applied chaining
First rule:
l66 -> l25 : tmp_34^0'=temp_35^0, i_30^0'=1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post71, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, length_29^0'=nondet_12^10, -1+nondet_12^10 >= 0, cost: 3
Second rule:
l25 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=length_29^0, temp_35^0'=temp_35^post39, head_32^0'=temp_35^0, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^0, rcd_58^0'=rcd_58^post39, (1+i_30^0-length_29^0 <= 0 /\ -1+i_30^0 == 0), cost: 1
New rule:
l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, (0 == 0 /\ 2-nondet_12^10 <= 0 /\ -1+nondet_12^10 >= 0), cost: 4

Applied simplification
Original rule:
l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, (0 == 0 /\ 2-nondet_12^10 <= 0 /\ -1+nondet_12^10 >= 0), cost: 4
New rule:
l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4

Applied deletion
Removed the following rules: 88 108

Eliminating location l63 by chaining:

Applied chaining
First rule:
l38 -> l63 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 1
Second rule:
l63 -> l64 : 0 == 0, cost: 1
New rule:
l38 -> l64 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (0 == 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 2

Applied simplification
Original rule:
l38 -> l64 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (0 == 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 2
New rule:
l38 -> l64 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 100 101

Eliminating location l65 by chaining:

Applied chaining
First rule:
l38 -> l65 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 1
Second rule:
l65 -> l38 : TRUE, cost: 1
New rule:
l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2

Applied deletion
Removed the following rules: 103 104

Eliminating location l64 by chaining:

Applied chaining
First rule:
l38 -> l64 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 2
Second rule:
l64 -> l41 : (result_dot_nondet_sdv_special_RETURN_VALUE_13^0-i_167^0 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0 /\ -i_30^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 <= 0), cost: 1
New rule:
l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3

Applied deletion
Removed the following rules: 102 110

Eliminating location l42 by chaining:

Applied chaining
First rule:
l41 -> l42 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 1
Second rule:
l42 -> l43 : 0 == 0, cost: 1
New rule:
l41 -> l43 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2

Applied simplification
Original rule:
l41 -> l43 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2
New rule:
l41 -> l43 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2

Applied deletion
Removed the following rules: 90 91

Eliminating location l45 by chaining:

Applied chaining
First rule:
l41 -> l45 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 1
Second rule:
l45 -> l46 : 0 == 0, cost: 1
New rule:
l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2

Applied simplification
Original rule:
l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (0 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2
New rule:
l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2

Applied deletion
Removed the following rules: 93 94

Eliminating location l43 by chaining:

Applied chaining
First rule:
l41 -> l43 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 2
Second rule:
l43 -> l18 : -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l41 -> l18 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 3

Applied deletion
Removed the following rules: 92 113

Eliminating location l46 by chaining:

Applied chaining
First rule:
l41 -> l46 : head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (len_132^0 >= 0 /\ a_147^0 >= 0), cost: 2
Second rule:
l46 -> l47 : len_183^0'=1+len_132^0, a_184^0'=-1+a_147^0, (-head_SLAM_f_26^0+head_14^0 == 0 /\ -f_170^0+head_27^0 == 0), cost: 1
New rule:
l41 -> l47 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 3

Applied deletion
Removed the following rules: 95 114

Eliminating location l18 by chaining:

Applied chaining
First rule:
l41 -> l18 : x_SLAM_f_18^0'=head_14^0, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post41, x_20^0'=head_14^0, y_19^0'=0, x_16^0'=head_14^0, ct_17^0'=0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 3
Second rule:
l18 -> l19 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, len_132^0 >= 0, cost: 1
New rule:
l41 -> l19 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 4

Applied deletion
Removed the following rules: 81 115

Eliminating location l47 by chaining:

Applied chaining
First rule:
l41 -> l47 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 3
Second rule:
l47 -> l48 : 0 == 0, cost: 1
New rule:
l41 -> l48 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (0 == 0 /\ head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 4

Applied simplification
Original rule:
l41 -> l48 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (0 == 0 /\ head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 4
New rule:
l41 -> l48 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 4

Applied deletion
Removed the following rules: 96 116

Eliminating location l19 by chaining:

Applied chaining
First rule:
l41 -> l19 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 4
Second rule:
l19 -> l20 : 0 == 0, cost: 1
New rule:
l41 -> l20 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 5

Applied simplification
Original rule:
l41 -> l20 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 5
New rule:
l41 -> l20 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 5

Applied deletion
Removed the following rules: 82 117

Eliminating location l48 by chaining:

Applied chaining
First rule:
l41 -> l48 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 4
Second rule:
l48 -> l49 : 0 == 0, cost: 1
New rule:
l41 -> l49 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (0 == 0 /\ head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 5

Applied simplification
Original rule:
l41 -> l49 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (0 == 0 /\ head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 5
New rule:
l41 -> l49 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 5

Applied deletion
Removed the following rules: 97 118

Eliminating location l20 by chaining:

Applied chaining
First rule:
l41 -> l20 : x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ head_27^0 == 0), cost: 5
Second rule:
l20 -> l21 : a_215^0'=a_237^0, t_23^0'=x_20^0, (-x_20^0+head_14^0 == 0 /\ x_SLAM_f_18^0-head_14^0 == 0 /\ -y_19^0+ct_17^0 == 0 /\ head_14^0-x_16^0 == 0 /\ ct_17^0 == 0), cost: 1
New rule:
l41 -> l21 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 6

Applied deletion
Removed the following rules: 83 119

Eliminating location l49 by chaining:

Applied chaining
First rule:
l41 -> l49 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, head_14^0'=head_14^post44, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 5
Second rule:
l49 -> l44 : len_132^0'=len_183^0, a_147^0'=a_184^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l41 -> l44 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, len_132^0'=1+len_132^0, head_14^0'=head_14^post44, a_147^0'=-1+a_147^0, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 6

Applied deletion
Removed the following rules: 98 120

Eliminating location l21 by chaining:

Applied chaining
First rule:
l41 -> l21 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 6
Second rule:
l21 -> l22 : 0 == 0, cost: 1
New rule:
l41 -> l22 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 7

Applied simplification
Original rule:
l41 -> l22 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 7
New rule:
l41 -> l22 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 7

Applied deletion
Removed the following rules: 84 121

Eliminating location l44 by chaining:

Applied chaining
First rule:
l41 -> l44 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, len_132^0'=1+len_132^0, head_14^0'=head_14^post44, a_147^0'=-1+a_147^0, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 6
Second rule:
l44 -> l41 : TRUE, cost: 1
New rule:
l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, len_132^0'=1+len_132^0, head_14^0'=head_14^post44, a_147^0'=-1+a_147^0, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 7

Applied deletion
Removed the following rules: 99 122

Eliminating location l22 by chaining:

Applied chaining
First rule:
l41 -> l22 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 7
Second rule:
l22 -> l23 : 0 == 0, cost: 1
New rule:
l41 -> l23 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 8

Applied simplification
Original rule:
l41 -> l23 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 8
New rule:
l41 -> l23 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 8

Applied deletion
Removed the following rules: 85 123

Eliminating location l23 by chaining:

Applied chaining
First rule:
l41 -> l23 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 8
Second rule:
l23 -> l24 : 0 == 0, cost: 1
New rule:
l41 -> l24 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 9

Applied simplification
Original rule:
l41 -> l24 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 9
New rule:
l41 -> l24 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 9

Applied deletion
Removed the following rules: 86 125

Eliminating location l24 by chaining:

Applied chaining
First rule:
l41 -> l24 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 9
Second rule:
l24 -> l0 : len_132^0'=1+a_215^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10

Applied deletion
Removed the following rules: 87 126

Eliminating location l3 by chaining:

Applied chaining
First rule:
l0 -> l3 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, a_237^0 >= 0, cost: 1
Second rule:
l3 -> l4 : 0 == 0, cost: 1
New rule:
l0 -> l4 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, (0 == 0 /\ a_237^0 >= 0), cost: 2

Applied simplification
Original rule:
l0 -> l4 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, (0 == 0 /\ a_237^0 >= 0), cost: 2
New rule:
l0 -> l4 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, a_237^0 >= 0, cost: 2

Applied deletion
Removed the following rules: 73 74

Eliminating location l4 by chaining:

Applied chaining
First rule:
l0 -> l4 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, a_237^0 >= 0, cost: 2
Second rule:
l4 -> l5 : a_260^0'=-1+a_237^0, t_23^0'=x_20^0, (x_SLAM_f_18^0-head_14^0 == 0 /\ -y_19^0+ct_17^0 == 0 /\ head_14^0-x_16^0 == 0 /\ ct_17^0 == 0), cost: 1
New rule:
l0 -> l5 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 3

Applied deletion
Removed the following rules: 75 128

Eliminating location l5 by chaining:

Applied chaining
First rule:
l0 -> l5 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 3
Second rule:
l5 -> l6 : 0 == 0, cost: 1
New rule:
l0 -> l6 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (0 == 0 /\ head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 4

Applied simplification
Original rule:
l0 -> l6 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (0 == 0 /\ head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 4
New rule:
l0 -> l6 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 4

Applied deletion
Removed the following rules: 76 129

Eliminating location l6 by chaining:

Applied chaining
First rule:
l0 -> l6 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 4
Second rule:
l6 -> l7 : 0 == 0, cost: 1
New rule:
l0 -> l7 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (0 == 0 /\ head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 5

Applied simplification
Original rule:
l0 -> l7 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (0 == 0 /\ head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 5
New rule:
l0 -> l7 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 5

Applied deletion
Removed the following rules: 77 130

Eliminating location l7 by chaining:

Applied chaining
First rule:
l0 -> l7 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 5
Second rule:
l7 -> l8 : 0 == 0, cost: 1
New rule:
l0 -> l8 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (0 == 0 /\ head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 6

Applied simplification
Original rule:
l0 -> l8 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (0 == 0 /\ head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 6
New rule:
l0 -> l8 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 6

Applied deletion
Removed the following rules: 78 131

Eliminating location l8 by chaining:

Applied chaining
First rule:
l0 -> l8 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0), cost: 6
Second rule:
l8 -> l2 : a_237^0'=a_260^0, -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^0 >= 0, cost: 1
New rule:
l0 -> l2 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 7

Applied deletion
Removed the following rules: 79 132

Eliminating location l2 by chaining:

Applied chaining
First rule:
l0 -> l2 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 7
Second rule:
l2 -> l0 : TRUE, cost: 1
New rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8

Applied deletion
Removed the following rules: 80 133

Eliminated locations on linear paths
Start location: l66
 134: l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8
 111: l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2
 112: l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3
 124: l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, len_132^0'=1+len_132^0, head_14^0'=head_14^post44, a_147^0'=-1+a_147^0, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 7
 127: l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10
 109: l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4


Applied simplification
Original rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=head_14^post1, x_16^0'=x_16^post1, ct_17^0'=ct_17^post1, t_23^0'=x_20^0, (head_14^post1-x_16^post1 == 0 /\ -head_14^post1+x_SLAM_f_18^post1 == 0 /\ a_237^0 >= 0 /\ -y_19^0+ct_17^post1 == 0 /\ ct_17^post1 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8
New rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8

Simplified simple loops
Start location: l66
 135: l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8
 111: l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2
 112: l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3
 124: l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, len_132^0'=1+len_132^0, head_14^0'=head_14^post44, a_147^0'=-1+a_147^0, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 7
 127: l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10
 109: l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1+a_237^0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8
New rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-n0+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-n0+a_237^0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (-y_19^0 >= 0 /\ 1-n0+a_237^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ -1+n0 >= 0), cost: 8*n0

Applied instantiation
Original rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-n0+a_237^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-n0+a_237^0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (-y_19^0 >= 0 /\ 1-n0+a_237^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ -1+n0 >= 0), cost: 8*n0
New rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (0 >= 0 /\ -y_19^0 >= 0 /\ a_237^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8+8*a_237^0

Applied simplification
Original rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (0 >= 0 /\ -y_19^0 >= 0 /\ a_237^0 >= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8+8*a_237^0
New rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8+8*a_237^0

Applied deletion
Removed the following rules: 135

Applied acceleration
Original rule:
l38 -> l38 : tmp_34^0'=temp_35^0, i_30^0'=1+i_30^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^0, i_94^0'=i_30^0, (i_30^0 >= 0 /\ 1+i_30^0-length_29^0 <= 0), cost: 2
New rule:
l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=i_30^0+n3, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+i_30^0+n3, (-2+n3 >= 0 /\ i_30^0 >= 0 /\ -i_30^0+length_29^0-n3 >= 0), cost: 2*n3

Applied instantiation
Original rule:
l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=i_30^0+n3, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+i_30^0+n3, (-2+n3 >= 0 /\ i_30^0 >= 0 /\ -i_30^0+length_29^0-n3 >= 0), cost: 2*n3
New rule:
l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+length_29^0, (0 >= 0 /\ i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0

Applied simplification
Original rule:
l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+length_29^0, (0 >= 0 /\ i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0
New rule:
l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0

Applied deletion
Removed the following rules: 111

Applied simplification
Original rule:
l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=f_170^post44, len_132^0'=1+len_132^0, head_14^0'=head_14^post44, a_147^0'=-1+a_147^0, (head_14^post44-head_SLAM_f_26^post44 == 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0 /\ -f_170^post44+head_27^0 == 0), cost: 7
New rule:
l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7

Simplified simple loops
Start location: l66
 137: l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8+8*a_237^0
 112: l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3
 139: l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0
 127: l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10
 140: l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7
 109: l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4


Applied acceleration
Original rule:
l41 -> l41 : len_183^0'=1+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1+a_147^0, f_170^0'=head_27^0, len_132^0'=1+len_132^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7
New rule:
l41 -> l41 : len_183^0'=n6+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-n6+a_147^0, f_170^0'=head_27^0, len_132^0'=n6+len_132^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-n6+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ -1+n6 >= 0 /\ len_132^0 >= 0 /\ 1-n6+a_147^0 >= 0), cost: 7*n6

Applied instantiation
Original rule:
l41 -> l41 : len_183^0'=n6+len_132^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-n6+a_147^0, f_170^0'=head_27^0, len_132^0'=n6+len_132^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-n6+a_147^0, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ -1+n6 >= 0 /\ len_132^0 >= 0 /\ 1-n6+a_147^0 >= 0), cost: 7*n6
New rule:
l41 -> l41 : len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7+7*a_147^0

Applied simplification
Original rule:
l41 -> l41 : len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1, (0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7+7*a_147^0
New rule:
l41 -> l41 : len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7+7*a_147^0

Applied deletion
Removed the following rules: 140

Accelerated simple loops
Start location: l66
 137: l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8+8*a_237^0
 112: l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3
 139: l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0
 127: l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10
 142: l41 -> l41 : len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7+7*a_147^0
 109: l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4


Applied chaining
First rule:
l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10
Second rule:
l0 -> l0 : x_SLAM_f_18^0'=x_SLAM_f_18^post1, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, a_237^0'=-1, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=y_19^0, t_23^0'=x_20^0, (a_237^0 >= 0 /\ y_19^0 <= 0 /\ y_19^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0), cost: 8+8*a_237^0
New rule:
l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post41, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, x_20^0'=head_14^0, len_132^0'=1+a_237^0, a_237^0'=-1, y_19^0'=0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=0, t_23^0'=head_14^0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_237^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ head_27^0 == 0), cost: 18+8*a_237^0

Applied deletion
Removed the following rules: 137

Applied chaining
First rule:
l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4
Second rule:
l38 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=length_29^0, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, i_94^0'=-1+length_29^0, (i_30^0 >= 0 /\ -2-i_30^0+length_29^0 >= 0), cost: -2*i_30^0+2*length_29^0
New rule:
l66 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, i_94^0'=-1+nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10

Applied deletion
Removed the following rules: 139

Applied chaining
First rule:
l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3
Second rule:
l41 -> l41 : len_183^0'=1+len_132^0+a_147^0, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, f_170^0'=head_27^0, len_132^0'=1+len_132^0+a_147^0, head_14^0'=head_SLAM_f_26^post44, a_147^0'=-1, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 >= 0 /\ a_147^0 >= 0), cost: 7+7*a_147^0
New rule:
l38 -> l41 : result_11^0'=result_11^post65, len_183^0'=1+len_132^0+a_147^0, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, i_167^0'=i_167^post65, f_170^0'=head_32^0, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_SLAM_f_26^post44, length_29^0'=length_29^post65, a_147^0'=-1, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-2+a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 == 0 /\ -2+i_167^post65 >= 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 10+7*a_147^0

Applied deletion
Removed the following rules: 142

Chained accelerated rules with incoming rules
Start location: l66
 112: l38 -> l41 : result_11^0'=result_11^post65, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_32^0, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post65, i_167^0'=i_167^post65, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_32^0, length_29^0'=length_29^post65, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-a_147^0+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -i_167^post65+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 <= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post65 >= 0 /\ len_132^0 == 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 3
 145: l38 -> l41 : result_11^0'=result_11^post65, len_183^0'=1+len_132^0+a_147^0, tmp_34^0'=tmp_34^post65, head_SLAM_f_26^0'=head_SLAM_f_26^post44, r_39^0'=r_39^post44, i_30^0'=a_147^0, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post44, head_175^0'=head_175^post44, a_184^0'=-1, i_167^0'=i_167^post65, f_170^0'=head_32^0, len_132^0'=1+len_132^0+a_147^0, temp_35^0'=temp_35^post65, head_32^0'=head_32^post65, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^post65, head_14^0'=head_SLAM_f_26^post44, length_29^0'=length_29^post65, a_147^0'=-1, temp0_31^0'=temp0_31^post65, head_27^0'=head_32^0, (-2+a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post44 >= 0 /\ len_132^0 == 0 /\ -2+i_167^post65 >= 0 /\ -i_30^0+length_29^0 <= 0 /\ -i_30^0 <= 0), cost: 10+7*a_147^0
 127: l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post19, head_SLAM_f_26^0'=head_SLAM_f_26^post41, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post19, x_20^0'=head_14^0, len_132^0'=1+a_237^0, y_19^0'=0, head_14^0'=head_14^post19, x_16^0'=x_16^post19, ct_17^0'=ct_17^post19, t_23^0'=head_14^0, head_27^0'=head_27^post41, (-2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post41 >= 0 /\ head_14^post19-head_14^0 == 0 /\ len_132^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post19 >= 0 /\ -x_16^post19+head_14^post19 == 0 /\ -head_14^post19+x_SLAM_f_18^post19 == 0 /\ a_147^0 >= 0 /\ ct_17^post19 == 0 /\ head_27^0 == 0), cost: 10
 143: l41 -> l0 : a_215^0'=a_237^0, x_SLAM_f_18^0'=x_SLAM_f_18^post1, head_SLAM_f_26^0'=head_SLAM_f_26^post41, r_39^0'=r_39^post1, a_260^0'=-1, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=result_dot_nondet_sdv_special_RETURN_VALUE_13^post1, x_20^0'=head_14^0, len_132^0'=1+a_237^0, a_237^0'=-1, y_19^0'=0, head_14^0'=x_SLAM_f_18^post1, x_16^0'=x_SLAM_f_18^post1, ct_17^0'=0, t_23^0'=head_14^0, head_27^0'=head_27^post41, (len_132^0 >= 0 /\ a_237^0 >= 0 /\ a_147^0 >= 0 /\ -2+result_dot_nondet_sdv_special_RETURN_VALUE_13^post1 >= 0 /\ head_27^0 == 0), cost: 18+8*a_237^0
 109: l66 -> l38 : tmp_34^0'=temp_35^post71, i_30^0'=2, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, temp_35^0'=temp_35^post39, head_32^0'=temp_35^post71, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, -2+nondet_12^10 >= 0, cost: 4
 144: l66 -> l38 : tmp_34^0'=temp_35^post68, i_30^0'=nondet_12^10, result_dot_nondet_sdv_special_RETURN_VALUE_13^0'=nondet_12^10, nondet_12^0'=nondet_12^post40, rcd_88^0'=rcd_88^post68, temp_35^0'=temp_35^post68, head_32^0'=temp_35^post68, result_dot_SLAyer_malloc_sdv_special_RETURN_VALUE_33^0'=temp_35^post71, length_29^0'=nondet_12^10, rcd_58^0'=rcd_58^post39, i_94^0'=-1+nondet_12^10, -4+nondet_12^10 >= 0, cost: 2*nondet_12^10


Removed unreachable locations and irrelevant leafs
Start location: l66
  <empty>


Computing asymptotic complexity

Proved the following lower bound
Complexity:  Unknown
Cpx degree: ?

Solved cost: 0
Rule cost:   0